Publikationen

2025

  • Automated Game Statistics for the RoboCup Standard Platform League
    Thomas Röfer, Laurens Müller-Groh, Arne Hasselbring, Tim Laue. In RoboCup 2024: Robot World Cup XXVII, Lecture Notes in Artificial Intelligence. Springer (2025).
    file.png SpringerLink (file.png .bib)
  • B-Human 2024 - Enhanced Vision and Faster Ball Handling
    Thomas Röfer, Tim Laue, Philip Reichenberg, Lukas Gittner, Laurens Schiefelbein. In RoboCup 2024: Robot World Cup XXVII, Lecture Notes in Artificial Intelligence. Springer (2025).
    file.png SpringerLink (file.png .bib)

2024

  • B-Human 2023 - Object and Gesture Detection
    Thomas Röfer, Tim Laue, Arne Hasselbring, Fynn Böse, Lukas Malte Monnerjahn, Kelke van Lessen. In RoboCup 2023: Robot World Cup XXVI, Lecture Notes in Artificial Intelligence. Springer (2024).
    file.png SpringerLink (file.png .bib)
  • Dynamic Joint Control for a Humanoid Walk
    Philip Reichenberg, Thomas Röfer. In RoboCup 2023: Robot World Cup XXVI, Lecture Notes in Artificial Intelligence. Springer (2024).
    file.png SpringerLink (file.png .bib)
  • Neural Network-Based Joint Angle Prediction for the NAO Robot
    Jan Fiedler, Tim Laue. In RoboCup 2023: Robot World Cup XXVI, Lecture Notes in Artificial Intelligence. Springer (2024).
    file.png SpringerLink (file.png .bib)

2023

  • Code Release 2023
    Thomas Röfer, Tim Laue, Fynn Böse, Arne Hasselbring, Jo Lienhoop, Lukas Malte Monnerjahn, Philip Reichenberg, Sina Schreiber (2023)
    GitHub (file.png .html)
  • B-Human 2022 - More Team Play with Less Communication
    Thomas Röfer, Tim Laue, Arne Hasselbring, Jo Lienhoop, Yannik Meinken, Philip Reichenberg. In RoboCup 2022: Robot World Cup XXV, Lecture Notes in Artificial Intelligence. Springer (2023).
    file.png SpringerLink (file.png .bib)

2022

  • B-Human Team Report and Code Release 2022
    Thomas Röfer, Tim Laue, Finn Marvin Ewers, Enrico Göhrs, Michelle Gusev, Arne Hasselbring, Jo Lienhoop, Ayleen Lührsen, Yannik Meinken, Philip Reichenberg, Laurens Schiefelbein, Florian Scholz, Sina Schreiber, Simon Werner (2022)
    GitHub (file.png .pdf, file.png .bib)
  • B-Human 2021 - Playing Soccer Out of the Box
    Thomas Röfer, Tim Laue, Arne Hasselbring, Lukas Malte Monnerjahn, Nele Matschull, Lukas Plecher. In RoboCup 2021: Robot World Cup XXIV, Lecture Notes in Artificial Intelligence. Springer (2022).
    file.png SpringerLink (file.png .pdf, file.png .bib)
  • Closing the Reality Gap with Unsupervised Sim-to-Real Image Translation
    Jan Blumenkamp, Andreas Baude, Tim Laue. In RoboCup 2021: Robot World Cup XXIV, Lecture Notes in Artificial Intelligence. Springer (2022). Best Paper Award Finalist.
    file.png SpringerLink (file.png .pdf, file.png .bib)
  • Soccer Field Boundary Detection Using Convolutional Neural Networks
    Arne Hasselbring, Andreas Baude. In RoboCup 2021: Robot World Cup XXIV, Lecture Notes in Artificial Intelligence. Springer (2022).
    file.png SpringerLink (file.png .pdf, file.png .bib)
  • Step Adjustment for a Robust Humanoid Walk
    Philip Reichenberg, Thomas Röfer. In RoboCup 2021: Robot World Cup XXIV, Lecture Notes in Artificial Intelligence. Springer (2022). Best Paper Award Finalist.
    file.png SpringerLink (file.png .pdf, file.png .bib)

2021

  • B-Human Team Report and Code Release 2021
    Thomas Röfer, Tim Laue, Nikolai Bahr, Jonah Jaeger, Jannes Knychalla, Thorben Lorenzen, Nele Matschull, Yannik Meinken, Lukas Malte Monnerjahn, Lukas Plecher, Philip Reichenberg (2021)
    GitHub (file.png .pdf, file.png .bib)

2019

  • B-Human 2019 - Complex Team Play Under Natural Lighting Conditions
    Thomas Röfer, Tim Laue, Gerrit Felsch, Arne Hasselbring, Tim Haß, Jan Oppermann, Philip Reichenberg, Nicole Schrader. In RoboCup 2019: Robot World Cup XXIII, Lecture Notes in Artificial Intelligence. Springer (2019).
    file.png SpringerLink (file.png .pdf, file.png .bib)
  • B-Human Team Report and Code Release 2019
    Thomas Röfer, Tim Laue, Andreas Baude, Jan Blumenkamp, Gerrit Felsch, Jan Fiedler, Arne Hasselbring, Tim Haß, Jan Oppermann, Philip Reichenberg, Nicole Schrader, Dennis Weiß (2019)
    GitHub (file.png .pdf, file.png .bib)
  • A JIT Compiler for Neural Network Inference
    Felix Thielke, Arne Hasselbring. In RoboCup 2019: Robot World Cup XXIII, Lecture Notes in Artificial Intelligence. Springer (2019).
    file.png SpringerLink (file.png .pdf, file.png .bib)
  • JET-Net: Real-Time Object Detection for Mobile Robots
    Bernd Poppinga, Tim Laue. In RoboCup 2019: Robot World Cup XXIII, Lecture Notes in Artificial Intelligence. Springer (2019).
    file.png SpringerLink (file.png .pdf, file.png .bib)

2018

  • B-Human Team Report and Code Release 2018
    Thomas Röfer, Tim Laue, Arne Hasselbring, Jannik Heyen, Bernd Poppinga, Philip Reichenberg, Enno Röhrig, Felix Thielke (2018)
    GitHub (file.png .pdf, file.png .bib)
  • B-Human Team Description for RoboCup 2018
    Thomas Röfer, Tim Laue, Andreas Baude, Gerrit Felsch, Arne Hasselbring, Bernd Poppinga, Felix Thielke, Timo Urban (2018)
    (file.png .pdf, file.png .bib)
  • Model-Based Fall Detection and Fall Prevention for Humanoid Robots
    Thomas Münder, Thomas Röfer. In RoboCup 2017: Robot World Cup XXI, Lecture Notes in Artificial Intelligence. Springer (2018).
    file.png SpringerLink (file.png .pdf, file.png .bib)
  • CABSL - C-Based Agent Behavior Specification Language
    Thomas Röfer. In RoboCup 2017: Robot World Cup XXI, Lecture Notes in Artificial Intelligence. Springer (2018).
    file.png SpringerLink (file.png .pdf, file.png .bib)
  • Vision-Based Orientation Detection of Humanoid Soccer Robots
    Andre Mühlenbrock, Tim Laue. In RoboCup 2017: Robot World Cup XXI, Lecture Notes in Artificial Intelligence. Springer (2018).
    file.png SpringerLink (file.png .pdf, file.png .bib)
  • B-Human 2017 - Team Tactics and Robot Skills in the Standard Platform League
    Thomas Röfer, Tim Laue, Arne Hasselbring, Jesse Richter-Klug, Enno Röhrig. In RoboCup 2017: Robot World Cup XXI, Lecture Notes in Artificial Intelligence. Springer (2018).
    file.png SpringerLink (file.png .pdf, file.png .bib)

2017

  • B-Human Team Report and Code Release 2017
    Thomas Röfer, Tim Laue, Yannick Bülter, Daniel Krause, Jonas Kuball, Andre Mühlenbrock, Bernd Poppinga, Markus Prinzler, Lukas Post, Enno Röhrig, René Schröder, Felix Thielke (2017)
    GitHub (file.png .pdf, file.png .bib)
  • B-Human Team Description for RoboCup 2017
    Thomas Röfer, Tim Laue, Andre Mühlenbrock (2017)
    (file.png .pdf, file.png .bib)
  • B-Human 2016 - Robust Approaches for Perception and State Estimation Under More Natural Conditions
    Thomas Röfer, Tim Laue, Jesse Richter-Klug. In RoboCup 2016: Robot World Cup XX, Lecture Notes in Artificial Intelligence. Springer (2017).
    file.png SpringerLink (file.png .pdf, file.png .bib)
  • Kick Motions for the NAO Robot Using Dynamic Movement Primitives
    Arne Böckmann, Tim Laue. In RoboCup 2016: Robot World Cup XX, Lecture Notes in Artificial Intelligence. Springer (2017). Best Paper Award Finalist.
    file.png SpringerLink (file.png .pdf, file.png .bib)

2016

  • B-Human Team Report and Code Release 2016
    Thomas Röfer, Tim Laue, Jonas Kuball, Andre Lübken, Florian Maaß, Judith Müller, Lukas Post, Jesse Richter-Klug, Peter Schulz, Andreas Stolpmann, Alexander Stöwing, Felix Thielke (2016)
    GitHub (file.png .pdf, file.png .bib)
  • B-Human Team Description for RoboCup 2016
    Thomas Röfer, Tim Laue, Jesse Richter-Klug, Felix Thielke (2016)
    (file.png .pdf, file.png .bib)

2015

  • B-Human Team Report and Code Release 2015
    Thomas Röfer, Tim Laue, Jesse Richter-Klug, Maik Schünemann, Jonas Stiensmeier, Andreas Stolpmann, Alexander Stöwing, Felix Thielke (2015)
    GitHub (file.png .pdf, file.png .bib)
  • B-Human Team Description for RoboCup 2015
    Thomas Röfer, Tim Laue, Jesse Richter-Klug, Jonas Stiensmeier, Maik Schünemann, Andreas Stolpmann, Alexander Stöwing, Felix Thielke (2015)
    (file.png .pdf, file.png .bib)
  • Automatic Robot Calibration for the NAO
    Tobias Kastner, Thomas Röfer, Tim Laue. In RoboCup 2014: Robot World Cup XVIII, Lecture Notes in Artificial Intelligence. Springer (2015).
    file.png SpringerLink (file.png .pdf, file.png .bib)

2014

  • B-Human Team Report and Code Release 2014
    Thomas Röfer, Tim Laue, Judith Müller, Dennis Schüthe, Arne Böckmann, Dana Jenett, Sebastian Koralewski, Florian Maaß, Elena Maier, Caren Siemer, Alexis Tsogias, Jan-Bernd Vosteen (2014)
    GitHub (file.png .pdf, file.png .bib)
  • B-Human Team Description for RoboCup 2014
    Thomas Röfer, Tim Laue, Judith Müller, Michel Bartsch, Jonas Beenenga, Dana Jenett, Tobias Kastner, Vanessa Klose, Sebastian Koralewski, Florian Maaß, Elena Maier, Paul Meißner, Dennis Schüthe, Caren Siemer, Jan-Bernd Vosteen (2014)
    (file.png .pdf, file.png .bib)
  • Robust and Efficient Object Recognition for a Humanoid Soccer Robot
    Alexander Härtl, Ubbo Visser, Thomas Röfer. In RoboCup 2013: Robot World Cup XVII, Lecture Notes in Artificial Intelligence. Springer (2014).
    file.png SpringerLink (file.png .pdf, file.png .bib)
  • B-Human 2013: Ensuring Stable Game Performance
    Thomas Röfer, Tim Laue, Arne Böckmann, Judith Müller, Alexis Tsogias. In RoboCup 2013: Robot World Cup XVII, Lecture Notes in Artificial Intelligence. Springer (2014).
    file.png SpringerLink (file.png .pdf, file.png .bib)
  • On B-Human's Code Releases in the Standard Platform League - Software Architecture and Impact
    Thomas Röfer, Tim Laue. In RoboCup 2013: Robot World Cup XVII, Lecture Notes in Artificial Intelligence. Springer (2014).
    file.png SpringerLink (file.png .pdf, file.png .bib)
  • Five Years of SSL-Vision - Impact and Development
    Stefan Zickler, Tim Laue, José Angelo Gurzoni Jr., Oliver Birbach, Joydeep Biswas, Manuela Veloso. In RoboCup 2013: Robot World Cup XVII, Lecture Notes in Artificial Intelligence. Springer (2014).
    file.png SpringerLink (file.png .pdf, file.png .bib)
  • Online Generated Kick Motions for the NAO Balanced Using Inverse Dynamics
    Felix Wenk, Thomas Röfer. In RoboCup 2013: Robot World Cup XVII, Lecture Notes in Artificial Intelligence. Springer (2014). Best Paper Award for Its Engineering Contribution.
    file.png SpringerLink (file.png .pdf, file.png .bib)

2013

  • B-Human Team Report and Code Release 2013
    Thomas Röfer, Tim Laue, Judith Müller, Michel Bartsch, Malte Jonas Batram, Arne Böckmann, Martin Böschen, Martin Kroker, Florian Maaß, Thomas Münder, Marcel Steinbeck, Andreas Stolpmann, Simon Taddiken, Alexis Tsogias, Felix Wenk (2013)
    GitHub (file.png .pdf, file.png .bib)
  • B-Human Team Description for RoboCup 2013
    Thomas Röfer, Tim Laue, Judith Müller, Michel Bartsch, Arne Böckmann, Florian Maaß, Thomas Münder, Marcel Steinbeck, Simon Taddiken, Alexis Tsogias, Felix Wenk (2013)
    (file.png .pdf, file.png .bib)

2012

  • B-Human Team Report and Code Release 2012
    Thomas Röfer, Tim Laue, Judith Müller, Michel Bartsch, Malte Jonas Batram, Arne Böckmann, Nico Lehmann, Florian Maaß, Thomas Münder, Marcel Steinbeck, Andreas Stolpmann, Simon Taddiken, Robin Wieschendorf, Danny Zitzmann (2012)
    (file.png .pdf, file.png .bib, file.png .bz2)
  • B-Human Team Description for RoboCup 2012
    Thomas Röfer, Tim Laue, Judith Müller, Alexander Fabisch, Colin Graf, Arne Böckmann, Thomas Münder (2012)
    (file.png .pdf, file.png .bib)
  • A Scripting-based Approach to Robot Behavior Engineering Using Hierarchical Generators
    Thijs Jeffry de Haas, Tim Laue, Thomas Röfer. In Proceedings of the 2012 IEEE International Conference on Robotics and Automation (ICRA).
    (file.png .pdf)
  • A Center of Mass Observing 3D-LIPM Gait for the RoboCup Standard Platform League Humanoid
    Colin Graf, Thomas Röfer. In RoboCup 2011: Robot Soccer World Cup XV, Lecture Notes in Artificial Intelligence. Springer (2012).
    file.png SpringerLink (file.png .pdf)
  • B-Human 2011 - Eliminating Game Delays
    Tim Laue, Thomas Röfer, Katharina Gillmann, Felix Wenk, Colin Graf, Tobias Kastner. In RoboCup 2011: Robot Soccer World Cup XV, Lecture Notes in Artificial Intelligence. Springer (2012).
    file.png SpringerLink

2011

  • B-Human Team Report and Code Release 2011
    Thomas Röfer, Tim Laue, Judith Müller, Alexander Fabisch, Fynn Feldpausch, Katharina Gillmann, Colin Graf, Thijs Jeffry de Haas, Alexander Härtl, Arne Humann, Daniel Honsel, Philipp Kastner, Tobias Kastner, Carsten Könemann, Benjamin Markowsky, Ole Jan Lars Riemann, Felix Wenk (2011)
    (file.png .pdf, file.png .bib, file.png .bz2)
  • Crosscompiler for B-Human Team Report and Code Release 2011
    (file.png .bz2)
  • B-Human Team Description for RoboCup 2011
    Thomas Röfer, Tim Laue, Judith Müller, Alexander Fabisch, Katharina Gillmann, Colin Graf, Alexander Härtl, Arne Humann, Felix Wenk (2011)
    (file.png .pdf, file.png .bib)
  • Kicking a Ball - Modeling Complex Dynamic Motions for Humanoid Robots
    Judith Müller, Tim Laue, Thomas Röfer. In RoboCup 2010: Robot Soccer World Cup XIV, Lecture Notes in Artificial Intelligence. Springer (2011).
    file.png SpringerLink (file.png .pdf, file.png .bib)
  • Entropy-Based Active Vision for a Humanoid Soccer Robot
    Andreas Seekircher, Tim Laue, Thomas Röfer. In RoboCup 2010: Robot Soccer World Cup XIV, Lecture Notes in Artificial Intelligence. Springer (2011). Best Paper Award.
    file.png SpringerLink (file.png .pdf, file.png .bib)
  • Optimizing Particle Filter Parameters for Self-localization
    Armin Burchardt, Tim Laue, Thomas Röfer. In RoboCup 2010: Robot Soccer World Cup XIV, Lecture Notes in Artificial Intelligence. Springer (2011).
    file.png SpringerLink (file.png .pdf, file.png .bib)
  • Coordinated Pitch Observation for a Humanoid Robot Soccer Team
    Felix Wenk, Thomas Röfer. In Proceedings of the Sixth Workshop on Humanoid Soccer Robots in conjunction with the 2011 IEEE-RAS International Conference on Humanoid Robots.

2010

  • B-Human Team Report and Code Release 2010
    Thomas Röfer, Tim Laue, Judith Müller, Armin Burchardt, Erik Damrose, Fynn Feldpausch, Katharina Gillmann, Colin Graf, Thijs Jeffry de Haas, Alexander Härtl, Daniel Honsel, Philipp Kastner, Tobias Kastner, Benjamin Markowsky, Michael Mester, Ole Jan Lars Riemann, Martin Ring, Wiebke Sauerland, André Schreck, Ingo Sieverdingbeck, Felix Wenk, Jan-Hendrik Worch (2010)
    (file.png .pdf, file.png .bib, file.png .bz2)
  • Crosscompiler for B-Human Team Report and Code Release 2010
    (file.png .bz2)
  • B-Human Team Description for RoboCup 2010
    Thomas Röfer, Tim Laue, Colin Graf, Tobias Kastner, Alexander Fabisch, Christian Thedieck (2010)
    (file.png .pdf, file.png .bib)
  • A Closed-loop 3D-LIPM Gait for the RoboCup Standard Platform League Humanoid
    Colin Graf, Thomas Röfer. In Proceedings of the Fifth Workshop on Humanoid Soccer Robots in conjunction with the 2010 IEEE-RAS International Conference on Humanoid Robots.
    (file.png .pdf, file.png .bib)
  • Robot Recognition and Modeling in the RoboCup Standard Platform League
    Alexander Fabisch, Tim Laue, Thomas Röfer. In Proceedings of the Fifth Workshop on Humanoid Soccer Robots in conjunction with the 2010 IEEE-RAS International Conference on Humanoid Robots.
    (file.png .pdf, file.png .bib)

2009

  • B-Human Team Report and Code Release 2009
    Thomas Röfer, Tim Laue, Judith Müller, Oliver Bösche, Armin Burchardt, Erik Damrose, Katharina Gillmann, Colin Graf, Thijs Jeffry de Haas, Alexander Härtl, Andrik Rieskamp, André Schreck, Ingo Sieverdingbeck, Jan-Hendrik Worch (2009)
    (file.png .pdf, file.png .bib, file.png .bz2)
  • Crosscompiler for B-Human Team Report and Code Release 2009
    (file.png .bz2)
  • B-Human Team Description for RoboCup 2009
    Thomas Röfer, Tim Laue, Oliver Bösche, Ingo Sieverdingbeck, Thiemo Wiedemeyer, Jan-Hendrik Worch (2009)
    (file.png .pdf, file.png .bib)
  • A Robust Closed-Loop Gait for the Standard Platform League Humanoid
    Colin Graf, Alexander Härtl, Thomas Röfer, Tim Laue. In Proceedings of the Fourth Workshop on Humanoid Soccer Robots in conjunction with the 2009 IEEE-RAS International Conference on Humanoid Robots.
    (file.png .pdf, file.png .bib)
  • Efficient and Reliable Sensor Models for Humanoid Soccer Robot Self-Localization
    Tim Laue, Thijs Jeffry de Haas, Armin Burchardt, Colin Graf, Thomas Röfer, Alexander Härtl, Andrik Rieskamp. In Proceedings of the Fourth Workshop on Humanoid Soccer Robots in conjunction with the 2009 IEEE-RAS International Conference on Humanoid Robots.
    (file.png .pdf, file.png .bib)
  • Pose Extraction from Sample Sets in Robot Self-Localization - A Comparison and a Novel Approach
    Tim Laue, Thomas Röfer. In Proceedings of the Fourth European Conference on Mobile Robots (ECMR 2009).
    (file.png .pdf, file.png .bib)

2008

  • B-Human Team Report and Code Release 2008
    Thomas Röfer, Tim Laue, Armin Burchardt, Erik Damrose, Katharina Gillmann, Colin Graf, Thijs Jeffry de Haas, Alexander Härtl, Andrik Rieskamp, André Schreck, Jan-Hendrik Worch (2008)
    (file.png .pdf, file.png .bib, file.png .gz)
  • B-Human Team Description for RoboCup 2008
    Thomas Röfer, Tim Laue, Armin Burchardt, Erik Damrose, Martin Fritsche, Judtih Müller, Andrik Rieskamp (2008)
    (file.png .pdf, file.png .bib)

2007

  • B-Human Team Description for RoboCup 2007
    Thomas Röfer, Christoph Budelmann, Martin Fritsche, Tim Laue, Judtih Müller, Cord Niehaus, Florian Penquitt (2007)
    (file.png .pdf, file.png .bib)
  • Gait Optimization on a Humanoid Robot using Particle Swarm Optimization
    Cord Niehaus, Thomas Röfer, Tim Laue. In Proceedings of the Second Workshop on Humanoid Soccer Robots in conjunction with the 2007 IEEE-RAS International Conference on Humanoid Robots.
    (file.png .pdf, file.png .bib)
  • Particle Filter-based State Estimation in a Competitive and Uncertain Environment
    Tim Laue, Thomas Röfer. In Proceedings of the 6th International Workshop on Embedded Systems (IWES 2007).
    (file.png .pdf, file.png .bib)

2006

  • BreDoBrothers Team Description for RoboCup 2006
    Thomas Röfer, Martin Fritsche, Matthias Hebbel, Thomas Kindler, Tim Laue, Cord Niehaus, Walter Nistico, Philippe Schober (2006)
    (file.png .pdf, file.png .bib)
  • Getting Upright: Migrating Concepts and Software from Four-Legged to Humanoid Soccer Robots
    Tim Laue, Thomas Röfer. In Proceedings of the Workshop on Humanoid Soccer Robots in conjunction with the 2006 IEEE-RAS International Conference on Humanoid Robots.
    (file.png .pdf, file.png .bib)
  • BreDoBrothers Robot Questionnaire 2006
    Thomas Röfer, Martin Fritsche, Matthias Hebbel, Thomas Kindler, Tim Laue, Cord Niehaus, Walter Nistico, Philippe Schober (2006)
    (file.png .pdf)

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