Contact

Jens Behley
PD Dr. Jens Behley
Lecturer (Privatdozent)
Rheinische Friedrich-Wilhelms-Universität Bonn
Institute of Geodesy and Geoinformation
Nussallee 15
D-53115 Bonn, Germany
Office: 1.008
Phone: +49 (0)228 / 73-60190
Email:

Awards

Publications

E. Marks, L. Nunes, F. Magistri, M. Sodano, R. Marcuzzi, L. Zimmermann, J. Behley, and C. Stachniss Tree Skeletonization from 3D Point Clouds by Denoising Diffusion, Proc. of the IEEE/CVF International Conference on Computer Vision (ICCV), 2025.
G. Roggiolani, B. Bailey, J. Behley, and C. Stachniss Generation of Labeled Leaf Point Clouds for Plants Trait Estimation, Plant Phenomics, 2025.
M. Sodano, F. Magistri, E.A. Marks, F.A. Hosn, A. Zurbayev, R. Marcuzzi, M.V.R. Malladi, J. Behley, and C. Stachniss 3D Hierarchical Panoptic Segmentation in Real Orchard Environments Across Different Sensors, Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025.
N. Trekel, T. Guadagnino, T. Läbe, L. Wiesmann, P. Aguiar, J. Behley, and C. Stachniss Benchmark for Evaluating Long-Term Localization in Indoor Environments Under Substantial Static and Dynamic Scene Changes, Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025.
Y.L. Chong, L. Nunes, F. Magistri, X. Zhong, J. Behley, and C. Stachniss Zero-Shot Semantic Segmentation for Robots in Agriculture, Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025.
K.S.P. Pham, K. Son, C. Witte, J. Behley, J. Betz, and C. Stachniss Coherent Online Road Topology Estimation and Reasoning with Standard-Definition Maps, Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025.
Y. Pan, X. Zhong, L. Jin, L. Wiesmann, M. Popovic, J. Behley, and C. Stachniss PINGS: Gaussian Splatting Meets Distance Fields within a Point-Based Implicit Neural Map, Proc. of Robotics: Science and Systems (RSS), 2025.
X. Zhong, Y. Pan, L. Jin, M. Popovic, J. Behley, and C. Stachniss Globally Consistent RGB-D SLAM with 2D Gaussian Splatting, arXiv preprint, vol. arXiv:2506.00970, 2025.
L. Nunes, R. Marcuzzi, J. Behley, and C. Stachniss Towards Generating Realistic 3D Semantic Training Data for Autonomous Driving, arXiv preprint, vol. arXiv:2503.21449, 2025.
R. Marcuzzi, L. Nunes, E.A. Marks, L. Wiesmann, T. Läbe, J. Behley, and C. Stachniss SfmOcc: Vision-Based 3D Semantic Occupancy Prediction in UrbanEnvironments, IEEE Robotics & Automation Letters (RA-L), vol. 10(5), pp. 5074-5081, 2025.
Casado Herraez, D., M. Zeller, D. Wang, J. Behley, M. Heidingsfeld, and C. Stachniss RaI-SLAM: Radar-Inertial SLAM for Autonomous Vehicles, IEEE Robotics & Automation Letters (RA-L), vol. 10(6), pp. 5257-5264, 2025.
L. Jin, X. Zhong, Y. Pan, J. Behley, C. Stachniss, and M. Popovic ActiveGS: Active Scene Reconstruction Using Gaussian Splatting, IEEE Robotics & Automation Letters (RA-L), vol. 10(5), pp. 4866-4873, 2025.
G. Roggiolani, J. R\"uckin, M. Popovic, J. Behley, and C. Stachniss Unsupervised Semantic Label Generation in Agricultural Fields, {Frontiers in Robotics and AI}, vol. 12, 2025.
H. Kuang, Y. Pan, X. Zhong, L. Wiesmann, J. Behley, and C. Stachniss Improving Indoor Localization Accuracy by Using an Efficient Implicit Neural Map Representation, Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2025.
Casado Herraez, D., F. Kaschner, M. Zeller, D. Muhle, J. Behley, M. Heidingsfeld, D. Cremers, and C. Stachniss Ground-Aware Automotive Radar Odometry, Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2025.
M.V.R. Malladi, N. Chebrolu, I. Scacchetti, L. Lobefaro, T. Guadagnino, B. Casseau, H. Oh, L. Freissmuth, M. Karppinen, J. Schweier, S. Leutenegger, J. Behley, C. Stachniss, and M. Fallon DigiForests: A Longitudinal LiDAR Dataset for Forestry Robotics, Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2025.
F. Magistri, T. Läbe, E. Marks, S. Nagulavancha, Y. Pan, C. Smitt, L. Klingbeil, M. Halstead, H. Kuhlmann, C. McCool, J. Behley, and C. Stachniss A Dataset and Benchmark for Shape Completion of Fruits for Agricultural Robotics, Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2025.
C. Witte, J. Behley, C. Stachniss, and M. Raaijmakers Epipolar Attention Field Transformers for Bird's Eye View Semantic Segmentation, Proc. of the IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), 2025.
M. Zeller, D. Casado Herraez, B. Ayan, J. Behley, M. Heidingsfeld, and C. Stachniss SemRaFiner: Panoptic Segmentation in Sparse and Noisy Radar PointClouds, IEEE Robotics & Automation Letters (RA-L), vol. 10(2), pp. 923-930, 2025.
M. Sodano, F. Magistri, J. Behley, and C. Stachniss Open-World Panoptic Segmentation, arXiv preprint, vol. arXiv:2412.12740, 2024.
L. Wiesmann, E. Marks, S. Gupta, T. Guadagnino, J. Behley, and C. Stachniss Efficient LiDAR Bundle Adjustment for Multi-Scan Alignment Utilizing Continuous-Time Trajectories, arXiv preprint, vol. arXiv:2412.11760, 2024.
L. Wiesmann, T. Läbe, L. Nunes, J. Behley, and C. Stachniss Joint Intrinsic and Extrinsic Calibration of Perception Systems Utilizing a Calibration Environment, IEEE Robotics & Automation Letters (RA-L), vol. 9(10), pp. 9103-9110, 2024.
C. Witte, J. Behley, C. Stachniss, and M. Raaijmakers Epipolar Attention Field Transformers for Bird's Eye View Semantic Segmentation, arXiv preprint, vol. arXiv:2412.01595, 2024.
Y. Pan, X. Zhong, L. Wiesmann, T. Posewsky, J. Behley, and C. Stachniss PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistency, IEEE Transactions on Robotics (T-RO), 2024.
J. Weyler, F. Magistri, E. Marks, Y.L. Chong, M. Sodano, G. Roggiolani, N. Chebrolu, C. Stachniss, and J. Behley PhenoBench: A Large Dataset and Benchmarks for Semantic Image Interpretation in the Agricultural Domain, IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), 2024.
E.A. Marks, J. Bömer, F. Magistri, A. Sah, J. Behley, and C. Stachniss BonnBeetClouds3D: A Dataset Towards Point Cloud-Based Organ-Level Phenotyping of Sugar Beet Plants Under Real Field Conditions, Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.
H. Lim, S. Jang, B. Mersch, J. Behley, H. Myung, and C. Stachniss HeLiMOS: A Dataset for Moving Object Segmentation in 3D Point Clouds From Heterogeneous LiDAR Sensors, Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.
D. Casado Herraez, L. Chang, M. Zeller, L. Wiesmann, J. Behley, M. Heidingsfeld, and C. Stachniss SPR: Single-Scan Radar Place Recognition, IEEE Robotics & Automation Letters (RA-L), 2024.
F. Magistri, Y. Pan, J. Bartels, J. Behley, C. Stachniss, and C. Lehnert Improving Robotic Fruit Harvesting Within Cluttered EnvironmentsThrough 3D Shape Completion, IEEE Robotics & Automation Letters (RA-L), 2024.
M. Sodano, F. Magistri, L. Nunes, J. Behley, and C. Stachniss Open-World Semantic Segmentation Including Class Similarity, Proc. of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024.
L. Nunes, R. Marcuzzi, B. Mersch, J. Behley, and C. Stachniss Scaling Diffusion Models to Real-World 3D LiDAR Scene Completion, Proc. of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024.
X. Zhong, Y. Pan, C. Stachniss, and J. Behley 3D LiDAR Mapping in Dynamic Environments using a 4D Implicit Neural Representation, Proc. of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024.
M. Zeller, D. Cassado Herraez, J. Behley, M. Heidingsfeld, and C. Stachniss Radar Tracker: Moving Instance Tracking in Sparse and Noisy Radar Point Clouds, Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2024.
M.V.R. Malladi, T. Guadagnino, L. Lobefaro, M. Mattamala, H. Griess, J. Schweier, N. Chebrolu, M. Fallon, J. Behley, and C. Stachniss Tree Instance Segmentation and Traits Estimation for Forestry Environments Exploiting LiDAR Data , Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2024.
F. Magistri, R. Marcuzzi, E.A. Marks, M. Sodano, J. Behley, and C. Stachniss Efficient and Accurate Transformer-Based 3D Shape Completion and Reconstruction of Fruits for Agricultural Robots, Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2024.
M. Zeller, V. Sandhu, B. Mersch, J. Behley, M. Heidingsfeld, and C. Stachniss Radar Instance Transformer: Reliable Moving Instance Segmentation in Sparse Radar Point Clouds, IEEE Transactions on Robotics (T-RO), 2024.
Y. Pan, X. Zhong, L. Wiesmann, T. Posewsky, J. Behley, and C. Stachniss PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistency, arXiv preprint, vol. arXiv:2401.09101, 2024.
J. Weyler, T. Läbe, J. Behley, and C. Stachniss Panoptic Segmentation with Partial Annotations for Agricultural Robots, IEEE Robotics & Automation Letters (RA-L), vol. 9(2), pp. 1660-1667, 2024.
R. Marcuzzi, L. Nunes, L. Wiesmann, E. Marks, J. Behley, and C. Stachniss Mask4D: End-to-End Mask-Based 4D Panoptic Segmentation for LiDAR Sequences, IEEE Robotics & Automation Letters (RA-L), vol. 8(11), pp. 7487-7494, 2023.
G. Roggiolani, F. Magistri, T. Guadagnino, J. Behley, and C. Stachniss Unsupervised Pre-Training for 3D Leaf Instance Segmentation, IEEE Robotics & Automation Letters (RA-L), vol. 8, pp. 7448-7455, 2023.
F. Magistri, J. Weyler, D. Gogoll, P. Lottes, J. Behley, N. Petrinic, and C. Stachniss From one Field to Another – Unsupervised Domain Adaptation for Semantic Segmentation in Agricultural Robotics, Computers and Electronics in Agriculture, vol. 212, pp. 108114, 2023.
B. Mersch, T. Guadagnino, X. Chen, I. Vizzo, J. Behley, and C. Stachniss Building Volumetric Beliefs for Dynamic Environments Exploiting Map-Based Moving Object Segmentation, IEEE Robotics & Automation Letters (RA-L), vol. 8(8), pp. 5180-5187, 2023.
Y.L. Chong, J. Weyler, P. Lottes, J. Behley, and C. Stachniss Unsupervised Generation of Labeled Training Images for Crop-Weed Segmentation in New Fields and on Different Robotic Platforms, IEEE Robotics & Automation Letters (RA-L), vol. 8(8), pp. 5259-5266, 2023.
Y. Pan, F. Magistri, T. Läbe, E. Marks, C. Smitt, C.S. McCool, J. Behley, and C. Stachniss Panoptic Mapping with Fruit Completion and Pose Estimation for Horticultural Robots, Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.
N. Zimmerman, M. Sodano, E. Marks, J. Behley, and C. Stachniss Constructing Metric-Semantic Maps using Floor Plan Priors for Long-Term Indoor Localization, Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.
J. Weyler, F. Magistri, E. Marks, Y. Chong, M. Roggiolani, N. Chebrolu, C. Stachniss, and J. Behley PhenoBench --- A Large Dataset and Benchmarks for Semantic Image Interpretationin the Agricultural Domain, arXiv preprint, vol. arXiv:2306.04557, 2023.
L. Wiesmann, T. Guadagnino, I. Vizzo, N. Zimmerman, Y. Pan, H. Kuang, J. Behley, and C. Stachniss LocNDF: Neural Distance Field Mapping for Robot Localization, IEEE Robotics & Automation Letters (RA-L), vol. 8(8), pp. 4999-5006, 2023.
E. Marks, M. Sodano, F. Magistri, L. Wiesmann, D. Desai, R. Marcuzzi, J. Behley, and C. Stachniss High Precision Leaf Instance Segmentation in Point Clouds Obtained Under Real Field Conditions, IEEE Robotics & Automation Letters (RA-L), vol. 8(8), pp. 4791-4798, 2023.
H. Lim, L. Nunes, B. Mersch, X. Chen, J. Behley, H. Myung, and C. Stachniss ERASOR2: Instance-Aware Robust 3D Mapping of the Static World in Dynamic Scenes, Proc. of Robotics: Science and Systems (RSS), 2023.
J. Weyler, T. Läbe, F. Magistri, J. Behley, and C. Stachniss Towards Domain Generalization in Crop and Weed Segmentation for Precision Farming Robots, IEEE Robotics & Automation Letters (RA-L), vol. 8(6), pp. 3310-3317, 2023.
L. Nunes, L. Wiesmann, R. Marcuzzi, X. Chen, J. Behley, and C. Stachniss Temporal Consistent 3D LiDAR Representation Learning for Semantic Perception in Autonomous Driving, Proc. of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2023.
H. Kuang, X. Chen, T. Guadagnino, N. Zimmerman, J. Behley, and C. Stachniss IR-MCL: Implicit Representation-Based Online Global Localization, IEEE Robotics & Automation Letters (RA-L), vol. 8(3), pp. 1627-1634, 2023.
X. Zhong, Y. Pan, J. Behley, and C. Stachniss SHINE-Mapping: Large-Scale 3D Mapping Using Sparse Hierarchical Implicit Neural Representations, Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2023.
M. Sodano, F. Magistri, T. Guadagnino, J. Behley, and C. Stachniss Robust Double-Encoder Network for RGB-D Panoptic Segmentation, Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2023.
A. Riccardi, S. Kelly, E. Marks, F. Magistri, T. Guadagnino, J. Behley, M. Bennewitz, and C. Stachniss Fruit Tracking Over Time Using High-Precision Point Clouds, Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2023.
G. Roggiolani, M. Sodano, F. Magistri, T. Guadagnino, J. Behley, and C. Stachniss Hierarchical Approach for Joint Semantic, Plant Instance, and Leaf Instance Segmentation in the Agricultural Domain, Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2023.
G. Roggiolani, F. Magistri, T. Guadagnino, J. Weyler, G. Grisetti, C. Stachniss, and J. Behley On Domain-Specific Pre-Training for Effective Semantic Perception in Agricultural Robotics, Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2023.
M. Zeller, V.S. Sandhu, B. Mersch, J. Behley, M. Heidingsfeld, and C. Stachniss Radar Velocity Transformer: Single-scan Moving Object Segmentation in Noisy Radar Point Clouds, Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2023.
I. Vizzo, T. Guadagnino, B. Mersch, L. Wiesmann, J. Behley, and C. Stachniss KISS-ICP: In Defense of Point-to-Point ICP -- Simple, Accurate, and Robust Registration If Done the Right Way, IEEE Robotics & Automation Letters (RA-L), vol. 8(2), pp. 1-8, 2023.
R. Marcuzzi, L. Nunes, L. Wiesmann, J. Behley, and C. Stachniss Mask-Based Panoptic LiDAR Segmentation for Autonomous Driving, IEEE Robotics & Automation Letters (RA-L), vol. 8(2), pp. 1141-1148, 2023.
L. Wiesmann, L. Nunes, J. Behley, and C. Stachniss KPPR: Exploiting Momentum Contrast for Point Cloud-Based Place Recognition, IEEE Robotics & Automation Letters (RA-L), vol. 8(2), pp. 592-599, 2023.
Y. Wu, J. Kuang, X. Niu, J. Behley, L. Klingbeil, and H. Kuhlmann Wheel-SLAM: Simultaneous Localization and Terrain Mapping Using One Wheel-mounted IMU, IEEE Robotics & Automation Letters (RA-L), vol. 8(1), pp. 280-287, 2023.
M. Zeller, J. Behley, M. Heidingsfeld, and C. Stachniss Gaussian Radar Transformer for Semantic Segmentation in Noisy Radar Data, IEEE Robotics & Automation Letters (RA-L), vol. 8(1), pp. 344-351, 2023.
N. Zimmerman, T. Guadagnino, X. Chen, J. Behley, and C. Stachniss Long-Term Localization using Semantic Cues in Floor Plan Maps, IEEE Robotics & Automation Letters (RA-L), vol. 8(1), pp. 176-183, 2023.
H. Müller, N. Zimmerman, T. Polonelli, M. Magno, J. Behley, C. Stachniss, and L. Benini Fully On-board Low-Power Localization with Multizone Time-of-Flight Sensors on Nano-UAVs, Proc. of Design, Automation & Test in Europe Conference & Exhibition (DATE), 2023.
N. Zimmerman, L. Wiesmann, T. Guadagnino, T. Läbe, J. Behley, and C. Stachniss Robust Onboard Localization in Changing Environments Exploiting Text Spotting, Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.
F. Magistri, E. Marks, S. Nagulavancha, I. Vizzo, T. Läbe, J. Behley, M. Halstead, C. McCool, and C. Stachniss Contrastive 3D Shape Completion and Reconstruction for Agricultural Robots using RGB-D Frames, IEEE Robotics & Automation Letters (RA-L), vol. 7(4), pp. 10120-10127, 2022.
I. Vizzo, B. Mersch, R. Marcuzzi, L. Wiesmann, J. Behley, and C. Stachniss Make it Dense: Self-Supervised Geometric Scan Completion of Sparse 3D LiDAR Scans in Large Outdoor Environments, IEEE Robotics & Automation Letters (RA-L), vol. 7(3), pp. 8534-8541, 2022.
L. Nunes, X. Chen, R. Marcuzzi, A. Osep, L. Leal-Taixé, C. Stachniss, and J. Behley Unsupervised Class-Agnostic Instance Segmentation of 3D LiDAR Data for Autonomous Vehicles, IEEE Robotics & Automation Letters (RA-L), 2022.
B. Mersch, X. Chen, I. Vizzo, L. Nunes, J. Behley, and C. Stachniss Receding Moving Object Segmentation in 3D LiDAR Data Using Sparse 4D Convolutions, IEEE Robotics & Automation Letters (RA-L), vol. 7(3), pp. 7503-7510, 2022.
T. Guadagnino, X. Chen, M. Sodano, J. Behley, G. Grisetti, and C. Stachniss Fast Sparse LiDAR Odometry Using Self-Supervised Feature Selection on Intensity Images, IEEE Robotics & Automation Letters (RA-L), vol. 7(3), pp. 7597-7604, 2022.
L. Wiesmann, T. Guadagnino, I. Vizzo, G. Grisetti, J. Behley, and C. Stachniss DCPCR: Deep Compressed Point Cloud Registration in Large-Scale Outdoor Environments, IEEE Robotics & Automation Letters (RA-L), vol. 7(3), pp. 6327-6334, 2022.
X. Chen, B. Mersch, L. Nunes, R. Marcuzzi, I. Vizzo, J. Behley, and C. Stachniss Automatic Labeling to Generate Training Data for Online LiDAR-Based Moving Object Segmentation, IEEE Robotics & Automation Letters (RA-L), vol. 7(3), pp. 6107-6114, 2022.
I. Vizzo, T. Guadagnino, J. Behley, and C. Stachniss VDBFusion: Flexible and Efficient TSDF Integration of Range Sensor Data, Sensors, vol. 22(3), 2022.
L. Wiesmann, R. Marcuzzi, C. Stachniss, and J. Behley Retriever: Point Cloud Retrieval in Compressed 3D Maps, Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2022.
J. Weyler, J. Quakernack, P. Lottes, J. Behley, and C. Stachniss Joint Plant and Leaf Instance Segmentation on Field-Scale UAV Imagery, IEEE Robotics & Automation Letters (RA-L), vol. 7(2), pp. 3787-3794, 2022.
L. Nunes, R. Marcuzzi, X. Chen, J. Behley, and C. Stachniss SegContrast: 3D Point Cloud Feature Representation Learning through Self-supervised Segment Discrimination, IEEE Robotics & Automation Letters (RA-L), vol. 7(2), pp. 2116-2123, 2022.
R. Marcuzzi, L. Nunes, L. Wiesmann, I. Vizzo, J. Behley, and C. Stachniss Contrastive Instance Association for 4D Panoptic Segmentation using Sequences of 3D LiDAR Scans, IEEE Robotics & Automation Letters (RA-L), vol. 7(2), pp. 1550-1557, 2022.
J. Weyler, F. Magistri, P. Seitz, J. Behley, and C. Stachniss In-Field Phenotyping Based on Crop Leaf and Plant Instance Segmentation, Proc. of the IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), 2022.
B. Mersch, X. Chen, J. Behley, and C. Stachniss Self-supervised Point Cloud Prediction Using 3D Spatio-temporal Convolutional Networks, Proc. of the Conference on Robot Learning (CoRL), 2021.
J. Behley, M. Garbade, A. Milioto, J. Quenzel, S. Behnke, J. Gall, and C. Stachniss Towards 3D LiDAR-based semantic scene understanding of 3D point cloud sequences: The SemanticKITTI Dataset, International Journal on Robotics Research (IJRR), vol. 40(8-9), pp. 959-967, 2021.
X. Chen, T. Läbe, A. Milioto, T. Röhling, J. Behley, and C. Stachniss OverlapNet: A Siamese Network for Computing LiDAR Scan Similarity with Applications to Loop Closing and Localization, Autonomous Robots, vol. 46, pp. 61-81, 2021.
P. Rottmann, T. Posewsky, A. Milioto, C. Stachniss, and J. Behley Improving Monocular Depth Estimation by Semantic Pre-training, Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
X. Chen, S. Li, B. Mersch, L. Wiesmann, J. Gall, J. Behley, and C. Stachniss Moving Object Segmentation in 3D LiDAR Data: A Learning-based Approach Exploiting Sequential Data, IEEE Robotics & Automation Letters (RA-L), vol. 6, pp. 6529-6536, 2021.
M. Aygun, A. Osep, M. Weber, M. Maximov, C. Stachniss, J. Behley, and L. Leal-Taixe 4D Panoptic Segmentation, Proc. of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2021.
F. Magistri, N. Chebrolu, J. Behley, and C. Stachniss Towards In-Field Phenotyping Exploiting Differentiable Rendering with Self-Consistency Loss, Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2021.
I. Vizzo, X. Chen, N. Chebrolu, J. Behley, and C. Stachniss Poisson Surface Reconstruction for LiDAR Odometry and Mapping, Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2021.
X. Chen, I. Vizzo, T. Läbe, J. Behley, and C. Stachniss Range Image-based LiDAR Localization for Autonomous Vehicles, Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2021.
J. Behley, A. Milioto, and C. Stachniss A Benchmark for LiDAR-based Panoptic Segmentation based on KITTI, Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2021.
N. Chebrolu, T. Läbe, O. Vysotska, J. Behley, and C. Stachniss Adaptive Robust Kernels for Non-Linear Least Squares Problems, IEEE Robotics & Automation Letters (RA-L), vol. 6, pp. 2240-2247, 2021.
J. Weyler, A. Milioto, T. Falck, J. Behley, and C. Stachniss Joint Plant Instance Detection and Leaf Count Estimation for In-Field Plant Phenotyping, IEEE Robotics & Automation Letters (RA-L), vol. 6, pp. 3599-3606, 2021.
L. Wiesmann, A. Milioto, X. Chen, C. Stachniss, and J. Behley Deep Compression for Dense Point Cloud Maps, IEEE Robotics & Automation Letters (RA-L), vol. 6, pp. 2060-2067, 2021.
A. Milioto, J. Behley, C. McCool, and C. Stachniss LiDAR Panoptic Segmentation for Autonomous Driving, Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.
X. Chen, T. Läbe, L. Nardi, J. Behley, and C. Stachniss Learning an Overlap-based Observation Model for 3D LiDAR Localization, Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.
F. Langer, A. Milioto, A. Haag, J. Behley, and C. Stachniss Domain Transfer for Semantic Segmentation of LiDAR Data using Deep Neural Networks, Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.
X. Chen, T. Läbe, A. Milioto, T. Röhling, O. Vysotska, A. Haag, J. Behley, and C. Stachniss OverlapNet: Loop Closing for LiDAR-based SLAM, Proc. of Robotics: Science and Systems (RSS), 2020.
N. Chebrolu, T. Laebe, O. Vysotska, J. Behley, and C. Stachniss Adaptive Robust Kernels for Non-Linear Least Squares Problems, arXiv preprint, 2020.
J. Behley, A. Milioto, and C. Stachniss A Benchmark for LiDAR-based Panoptic Segmentation based on KITTI, arXiv preprint, 2020.
P. Lottes, J. Behley, N. Chebrolu, A. Milioto, and C. Stachniss Robust joint stem detection and crop-weed classification using image sequences for plant-specific treatment in precision farming, Journal of Field Robotics (JFR), vol. 37, pp. 20-34, 2020.
J. Behley, M. Garbade, A. Milioto, J. Quenzel, S. Behnke, C. Stachniss, and J. Gall SemanticKITTI: A Dataset for Semantic Scene Understanding of LiDAR Sequences, Proc. of the IEEE/CVF International Conference on Computer Vision (ICCV), 2019.
E. Palazzolo, J. Behley, P. Lottes, P. Giguere, and C. Stachniss ReFusion: 3D Reconstruction in Dynamic Environments for RGB-D Cameras Exploiting Residuals, Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019.
X. Chen, A. Milioto, E. Palazzolo, P. Giguère, J. Behley, and C. Stachniss SuMa++: Efficient LiDAR-based Semantic SLAM, Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019.
A. Milioto, I. Vizzo, J. Behley, and C. Stachniss RangeNet++: Fast and Accurate LiDAR Semantic Segmentation, Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019.
P. Lottes, J. Behley, A. Milioto, and C. Stachniss Fully Convolutional Networks with Sequential Information for Robust Crop and Weed Detection in Precision Farming, IEEE Robotics & Automation Letters (RA-L), vol. 3, pp. 3097-3104, 2018.
P. Lottes, J. Behley, N. Chebrolu, A. Milioto, and C. Stachniss Joint Stem Detection and Crop-Weed Classification for Plant-specific Treatment in Precision Farming, Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018.
J. Behley, and C. Stachniss Efficient Surfel-Based SLAM using 3D Laser Range Data in Urban Environments, Proc. of Robotics: Science and Systems (RSS), 2018.
J. Behley, V. Steinhage, and A.B. Cremers Efficient Radius Neighbor Search in Three-dimensional Point Clouds, Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2015.
J. Behley, V. Steinhage, and A.B. Cremers Laser-based Segment Classification Using a Mixture of Bag-of-Words, Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.
V. Steinhage, J. Behley, S. Meisel, and A.B. Cremers Reconstruction by components for automated updating of 3D city models, Applied Geomatrics, vol. 5, pp. 285-298, 2013.
J. Behley, V. Steinhage, and A.B. Cremers Performance of Histogram Descriptors for the Classification of 3D Laser Range Data in Urban Environments, Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2012.
F. Schöler, J. Behley, V. Steinhage, D. Schulz, and A.B. Cremers Person Tracking in Three-Dimensional Laser Range Data with Explicit Occlusion Adaption, Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2011.
J. Behley, K. Kersting, D. Schulz, V. Steinhage, and A.B. Cremers Learning to Hash Logistic Regression for Fast 3D Scan Point Classification, Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010.
V. Steinhage, J. Behley, S. Meisel, and A. B. Cremers Learning to Hash Logistic Regression for Fast 3D Scan Point Classification, Proc. of the ISPRS-Workshop on Core Spatial Databases - Updating, Maintenance and Services, 2010.
J. Behley, and V. Steinhage Generation of 3D City Models Using Domain-Specific Information Fusion, Proc. of the International Conference on Computer Vision Systems (ICVS), 2009.
V. Steinhage, J. Behley. Model-Driven Generation of 3D City Models using Information Fusion on Aerial Imagery, Laser Altimeter and Map Data, GFaI-Workshop 3D-NordOst, 2008.

Teaching

Summer Term 25: "Machine Learning for Robotics and Computer Vision" (Master)
Winter Term 24/25: "Techniques for Self-Driving Cars" (Master) with Benedikt Mersch
Summer Term 24: "Machine Learning for Robotics and Computer Vision" (Master)
Winter Term 23/24: "Techniques for Self-Driving Cars" (Master) with Prof. Dr. Cyrill Stachniss and Benedikt Mersch
Summer Term 23: "Machine Learning for Robotics and Computer Vision" (Master)
Winter Term 22/23: "Techniques for Self-Driving Cars" (Master) with Prof. Dr. Cyrill Stachniss and Benedikt Mersch
Summer Term 22: "Machine Learning for Robotics and Computer Vision" (Master)
Winter Term 21/22: "Techniques for Self-Driving Cars" (Master) with Prof. Dr. Cyrill Stachniss, Lasse Peters, and Benedikt Mersch
Summer Term 21: "Machine Learning for Robotics and Computer Vision" (Master)
Winter Term 20/21: "Techniques for Self-Driving Cars" (Master) with Prof. Dr. Cyrill Stachniss, Nived Chebrolu, and Benedikt Mersch
Summer Term 15: "Knowledge-based Image Understanding" (Master) together with PD Dr. Volker Steinhage and Dominik A. Klein
Summer Term 14: "Knowledge-based Image Understanding" (Master) together with PD Dr. Volker Steinhage Projectgroup "Intelligente Sehsystem" (Bachelor)
Summer Term 13: Projectgroup "Intelligente Sehsystem" (Bachelor)
Summer Term 12: Exercises "Autonomous Mobile Systems" (Master)
Winter Term 11/12: Projectgroup "Intelligente Sehsystem" (Bachelor)
Summer Term 11: Exercises "Autonomous Mobile Systems" (Master)
Winter Term 10/11: Projectgroup "Intelligente Sehsysteme (Bachelor)
Summer Term 10 Exercises "Autonomous Mobile Systems" (Master)
Winter Term 09/10: Projectgroup "Intelligente Sehsysteme" (Bachelor)