Henrik Kretzschmar

Henrik Kretzschmar

You can find a list of my scientific publications on this web page. My research interests focus on mobile robot navigation and machine learning.

I was awarded a PhD from the Faculty of Engineering at the University of Freiburg under the advisement of Wolfram Burgard in October 2014.

I left the University of Freiburg to join Google in Mountain View, California, in November 2014.

 

Contact Information

Email: kretzsch _at_ informatik.uni-freiburg.de

 

Publications

Refereed Journal Articles

kretzschmar16ijrr

Henrik Kretzschmar, Markus Spies, Christoph Sprunk, and Wolfram Burgard
Socially Compliant Mobile Robot Navigation via Inverse Reinforcement Learning.
In The International Journal of Robotics Research (IJRR), 2016.
[PDF] [BibTeX]

Kai M. Wurm, Henrik Kretzschmar, Rainer Kümmerle, Cyrill Stachniss, and Wolfram Burgard
Identifying Vegetation from Laser Data in Structured Outdoor Environments.
In Robotics and Autonomous Systems (RAS), 2014, Volume 62, Issue 5, pp. 675-684.
[PDF] [BibTeX]

kretzschmar12ijrr

Henrik Kretzschmar and Cyrill Stachniss
Information-Theoretic Compression of Pose Graphs for Laser-Based SLAM.
In The International Journal of Robotics Research (IJRR), 2012, Volume 31, Issue 11, pp. 1219-1230.
[PDF] [BibTeX]

Videos: FHW, Intel, Fr079.

kretzschmar10ki

Henrik Kretzschmar, Giorgio Grisetti, and Cyrill Stachniss
Lifelong Map Learning for Graph-based SLAM in Static Environments.
In KI - Künstliche Intelligenz (KI), 2010, Volume 24, Issue 3, pp. 199-206.
[BibTeX]

Refereed Conference Articles

kretzschmar14icra

Henrik Kretzschmar, Markus Kuderer, and Wolfram Burgard
Learning to Predict Trajectories of Cooperatively Navigating Agents.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014.
[PDF] [BibTeX]

kuderer13iros

Stefan Oßwald, Henrik Kretzschmar, Wolfram Burgard, and Cyrill Stachniss
Learning to Give Route Directions from Human Demonstrations.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014.
Best Cognitive Robotics Paper - Finalist.
[PDF] [BibTeX]

kuderer13iros

Markus Kuderer, Christoph Sprunk, Henrik Kretzschmar, and Wolfram Burgard
Online Generation of Homotopically Distinct Navigation Paths.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014.
[PDF] [BibTeX]

kuderer13iros

Markus Kuderer, Henrik Kretzschmar, and Wolfram Burgard
Teaching Mobile Robots to Cooperatively Navigate in Populated Environments.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, 2013.
[PDF] [BibTeX]

beinhofer13icra

Maximilian Beinhofer, Henrik Kretzschmar, and Wolfram Burgard
Deploying Artificial Landmarks to Foster Data Association in Simultaneous Localization and Mapping.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 2013.
[PDF] [BibTeX]

abdo13icra

Nichola Abdo, Henrik Kretzschmar, Luciano Spinello, and Cyrill Stachniss
Learning Manipulation Actions from a Few Demonstrations.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 2013.
[PDF] [BibTeX]

kuderer12rss

Markus Kuderer, Henrik Kretzschmar, Christoph Sprunk, and Wolfram Burgard
Feature-Based Prediction of Trajectories for Socially Compliant Navigation.
In Proc. of Robotics: Science and Systems (RSS), Sydney, Australia, 2012.
[PDF] [BibTeX]

ziegler11iros

Jakob Ziegler, Henrik Kretzschmar, Cyrill Stachniss, Giorgio Grisetti, and Wolfram Burgard
Accurate Human Motion Capture in Large Areas by Combining IMU- and Laser-Based People Tracking.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, USA, 2011.
[PDF] [BibTeX]

kretzschmar11iros

Henrik Kretzschmar, Cyrill Stachniss, and Giorgio Grisetti
Efficient Information-Theoretic Graph Pruning for Graph-Based SLAM with Laser Range Finders.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, USA, 2011.
[PDF] [BibTeX]

kretzschmar08iros

Henrik Kretzschmar, Cyrill Stachniss, Christian Plagemann, and Wolfram Burgard
Estimating Landmark Locations from Geo-Referenced Photographs.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nice, France, 2008.
[PDF] [BibTeX]

berton03essv

André Berton, Harald Hüning, and Henrik Kretzschmar
Domänenspezifische Sprachmodelle und Konfidenzmaße für die Domänendetektion und die Verringerung von Erkennungsfehlern.
In Tagungsband der 14. Konferenz Elektronische Sprachsignalverarbeitung (ESSV), Karlsruhe, Germany, 2003.

Refereed Workshop Papers

kretzschmar13rldm

Henrik Kretzschmar, Markus Kuderer, and Wolfram Burgard
Predicting Human Navigation Behavior via Inverse Reinforcement Learning.
In The 1st Multidisciplinary Conference on Reinforcement Learning and Decision Making (RLDM), Princeton, NJ, USA, 2013.
[BibTeX]

kretzschmar13rss-ws

Henrik Kretzschmar, Markus Kuderer, and Wolfram Burgard
Learning Navigation Policies from Human Demonstrations.
In Proc. of the Workshop on Inverse Optimal Control and Robotic Learning from Demonstration at Robotics: Science and Systems (RSS), Berlin, Germany, 2013.
[BibTeX]

kretzschmar13alw

Henrik Kretzschmar, Markus Kuderer, and Wolfram Burgard
Inferring Navigation Policies for Mobile Robots from Demonstrations.
In Proc. of the Autonomous Learning Workshop at the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 2013.
[BibTeX]

abdo12tampra

Nichola Abdo, Henrik Kretzschmar, and Cyrill Stachniss
From Low-Level Trajectory Demonstrations to Symbolic Actions for Planning.
In Proc. of the Workshop on Combining Task and Motion Planning for Real-World Applications (TAMPRA) at the International Conference on Automated Planning and Scheduling (ICAPS), Atibaia, São Paulo, Brazil, 2012.
[PDF] [BibTeX]

Invited Articles

stachniss11isrr

Cyrill Stachniss and Henrik Kretzschmar
Pose Graph Compression for Laser-Based SLAM.
In Proc. of the International Symposium of Robotics Research (ISRR), Flagstaff, AZ, USA, 2011.
Invited presentation.
[PDF] [BibTeX]

Theses

kretzschmar14phd

Henrik Kretzschmar
Learning Probabilistic Models for Mobile Robot Navigation.
PhD Thesis, University of Freiburg, 2014.
[PDF] [BibTeX]

kretzschmar09diplom

Henrik Kretzschmar
Lifelong Map Learning for Graph-based Simultaneous Localization and Mapping.
Diplomarbeit, University of Freiburg, 2009.

kretzschmar08studienarbeit

Henrik Kretzschmar
Estimating Landmark Locations from Geo-Referenced Photographs.
Studienarbeit, University of Freiburg, 2008.

Patents

Henrik Kretzschmar and Jiajun Zhu
Cyclist hand signal detection by an autonomous vehicle.
United States Patent, US 9,014,905 B1, April 21, 2015.

Google Inc., Mountain View, CA.

 

Supervised Theses

  • Philipp Ruchti. Learning Reactive Robot Navigation Policies from Predictive Trajectory Planning. Master's Thesis, 2013.

  • Martin Gloderer. Optimizing Sequences of Learned Movement Primitives Using Data Gathered from Demonstrations. Master's Thesis, 2012.

  • Nichola Abdo. Inferring Symbolic Actions from Demonstrations for Solving Manipulation Tasks in the Real World. Master's Thesis, 2012.

  • Jakob Ziegler. Improving Inertial Motion Capture Using Mobile Robots. Diplomarbeit, 2010.

 

Teaching