Dr. Armin Hornung

University of Freiburg » Dept. of Computer Science » Humanoid Robots Laboratory

Armin Hornung

As of now, I have left university and am working on Sensor Intelligence.

Before, I was a PhD student and postdoctoral research assistant at the Humanoid Robots Laboratory of the University of Freiburg, where I received my PhD (Dr. rer. nat) under the supervision of Maren Bennewitz in March 2014.

See "Projects" below or my publications (with videos) for more details about my research. Some videos of my work are also available in our lab's YouTube-Channel.

You can find some of the code that I develop and maintain on github.com/ahornung.


As a member of the DFG-funded SFB/TR8 Spatial Cognition, I work on humanoid robot navigation in complex indoor environments.

The OctoMap library provides a compact and efficient data structure for robotic mapping in arbitrary 3D environments. I am the co-developer and current maintainer of the project, which is available open-source at GitHub under the BSD license.

I am the developer and maintainer of several drivers and other software that integrates the Nao humanoid robot into ROS, a free and open source robot operating system. In addition to the Nao ROS stack, I also maintain the humanoid_navigation stack and the octomap_mapping stack that integrates OctoMap into ROS.

During a research internship at Willow Garage in California I worked on the manipulation occupancy map collider and developed the 3d_navigation stack. This set of software packages enables a mobile manipulation robot like the PR2 to navigate in complex, threedimensional and cluttered environments.