Raphael Memmesheimer
Raphael Memmesheimer
Scientific Staff
University of Bonn
Autonomous Intelligent Systems
Friedrich-Hirzebruch-Allee 8
53115 Bonn
Room 0.055
+49 228-73-60805
Research Interest
Embodied Artificial Intelligence
Time Series Classification
Imitation Learning
Action Recognition
Autonomous Mobile Robots
Robot Competitions
Short CV
I'm currently PostDoc with the Autonomous Intelligent Systems group at the University of Bonn. Before I was PhD. Student in the Active Vision Group at the University of Koblenz-Landau (now University of Koblenz). I obtained my Master Degree in Visual Computing from the University of Koblenz-Landau in 2016. From 2016 - 2019 I was team leader of the homer service robotics team taking part in RoboCup@Home, European Robotics League and the World Robot Summit. Most notably during that time we won the RoboCup@Home world championship three consecutive times (four times in total).
I have quite some ideas for potential bachelor and master theses as well research projects. Feel free to contact me if you are interested.
Video abstracts of some of my publications are available at youtube.
I served as reviewer for the following conferences and journals:
- IROS (IEEE/RSJ International Conference on Intelligent Robots and Systems) in 2020, 2021, 2022, 2023
- ICRA (IEEE International Conference on Robotics and Automation) in 2020, 2021
- RO-MAN (IEEE International Conference on Robot and Human Interactive Communication) in 2019
- RA-L (IEEE Robotics and Automation Letters) in 2019, 2022, 2023
- IEEE SPL (IEEE Signal Processing Letters) in 2023
- IJCV (Springer International Journal of Computer Vision) in 2023
Publications
NimbRo wins ANA Avatar XPRIZE Immersive Telepresence Competition: Human-Centric Evaluation and Lessons Learned
Lenz, Christian;
Schwarz, Max;
Rochow, Andre;
Pätzold, Bastian;
Memmesheimer, Raphael;
Schreiber, Michael;
Behnke, Sven
Accepted for International Journal of Social Robotics (SORO), Springer, to appear 2023
2023
Audio-based Roughness Sensing and Tactile Feedback for Haptic Perception in Telepresence
Pätzold, Bastian;
Rochow, Andre;
Schreiber, Michael;
Memmesheimer, Raphael;
Lenz, Christian;
Schwarz, Max;
Behnke, Sven
Accepted for IEEE International Conference on Systems, Man, and Cybernetics (SMC), Maui, Hawaii, USA, October, 2023.
2023
Robust Immersive Telepresence and Mobile Telemanipulation: NimbRo wins ANA Avatar XPRIZE Finals
Schwarz, Max;
Lenz, Christian;
Memmesheimer, Raphael;
Pätzold, Bastian;
Rochow, Andre;
Schreiber, Michael;
Behnke, Sven
Accepted for IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), Austin, USA, December 2023.
2023
External Camera-Based Mobile Robot Pose Estimation for Collaborative Perception with Smart Edge Sensors
Bultmann, Simon;
Memmesheimer, Raphael;
Behnke, Sven
{IEEE} International Conference on Robotics and Automation, {ICRA} 2023, London, UK, May 29 - June 2, 2023
2023
RoboCup 2022 AdultSize Winner NimbRo: Upgraded Perception, Capture Steps Gait and Phase-Based In-Walk Kicks
Pavlichenko, Dmytro;
Ficht, Grzegorz;
Amini, Arash;
Hosseini, Mojtaba;
Memmesheimer, Raphael;
Villar{-}Corrales, Angel;
Schulz, Stefan M.;
Missura, Marcell;
Bennewitz, Maren;
Behnke, Sven
RoboCup 2022: - Robot World Cup {XXV} [Bangkok, Thailand, July 11-17, 2022]
2023
On the recognition of human activities and the evaluation of its imitation by robotic systems
Memmesheimer, Raphael
2023
Reduced Skeleton Representation for Action Recognition on Graph Convolutional Neural Networks
Germann, Ida;
Memmesheimer, Raphael;
Paulus, Dietrich
{IEEE/SICE} International Symposium on System Integration, {SII} 2023, Atlanta, GA, USA, January 17-20, 2023
2023
Classification of pathological and healthy individuals for computer-aided physical rehabilitation
Kramer, Ivanna;
Memmesheimer, Raphael;
Paulus, Dietrich
{IEEE/SICE} International Symposium on System Integration, {SII} 2023, Atlanta, GA, USA, January 17-20, 2023
2023
Data augmentation for training a neural network for image reconstruction in MPI
von Gladiss, Anselm;
Kramer, Ivanna;
Theisen, Nick;
Memmesheimer, Raphael;
Bakenecker, Anna C.;
Buzug, Thorsten M.;
Paulus, Dietrich
International Workshop on Magnetic Particle Imaging
2022
Reconstruction of 1D Images with a Neural Network for Magnetic Particle Imaging
von Gladiss, Anselm;
Memmesheimer, Raphael;
Theisen, Nick;
Bakenecker, Anna C.;
Buzug, Thorsten M.;
Paulus, Dietrich
Bildverarbeitung für die Medizin 2022. Informatik aktuell
2022
Skeleton-DML: Deep Metric Learning for Skeleton-Based One-Shot Action Recognition
Memmesheimer, Raphael;
Häring, Simon;
Theisen, Nick;
Paulus, Dietrich
Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision
2022
Fusion-GCN: Multimodal Action Recognition using Graph Convolutional Networks
Duhme, Michael;
Memmesheimer, Raphael;
Paulus, Dietrich
Pattern Recognition
2021
Action Segmentation on Representations of Skeleton Sequences using Transformer Networks
Häring, Simon;
Memmesheimer, Raphael;
Paulus, Dietrich
2021 IEEE International Conference on Image Processing
2021
Customer Interaction of a Future Convenience Store with a Mobile Manipulation Service Robot
Kramer, Ivanna;
Memmesheimer, Raphael;
Paulus, Dietrich
2021 IEEE International Conference on Omni-Layer Intelligent Systems (COINS)
2021
Mobile Manipulation Hackathon: Moving into real world applications
Roa, Máximo;
Dogar, Mehmet;
Pages, Jordi;
Vivas, Carlos;
Morales, Antonio;
Correll, Nikolaus;
Görner, Michael;
Rosell, Jan;
Foix, Sergi;
Memmesheimer, Raphael;
Ferro, Francesco
IEEE Robotics and Automation Magazine
2021
SL-DML: Signal Level Deep Metric Learning for Multimodal One-Shot Action Recognition
Memmesheimer, Raphael;
Theisen, Nick;
Paulus, Dietrich
25th International Conference on Pattern Recognition, {ICPR} 2020, Virtual Event / Milan, Italy, January 10-15, 2021
2021
Gimme Signals: Discriminative signal encoding for multimodal activity recognition
Memmesheimer, Raphael;
Theisen, Nick;
Paulus, Dietrich
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
2020
Robotic Imitation by Markerless Visual Observation and Semantic Associations
Memmesheimer, Raphael;
Kramer, Ivanna;
Seib, Viktor;
Theisen, Nick;
Paulus, Dietrich
2020 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)
2020
Simitate: A Hybrid Imitation Learning Benchmark
Memmesheimer, Raphael;
Kramer, Ivanna;
Seib, Viktor;
Paulus, Dietrich
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
2019
Scratchy: A Lightweight Modular Autonomous Robot for Robotic Competitions
Memmesheimer, Raphael;
Kuhlmann, Isabelle;
Mints, Mark;
Schmidt, Patrik;
Korbach, Christian;
Germann, Ida;
Paulus, Dietrich
2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)
2019
Adaptive Learning Methods for Autonomous Mobile Manipulation in RoboCup@Home
Memmesheimer, Raphael;
Seib, Viktor;
Evers, Tobias;
Müller, Daniel;
Paulus, Dietrich
RoboCup 2019: Robot World Cup XXIII
2019
Evaluation Of Physical Therapy Through Analysis Of Depth Images
Kramer, Ivanna;
Schmidt, Niko;
Memmesheimer, Raphael;
Paulus, Dietrich
2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)
2019
Gesture Recognition in RGB Videos Using Human Body Keypoints and Dynamic Time Warping
Schneider, Pascal;
Memmesheimer, Raphael;
Kramer, Ivanna;
Paulus, Dietrich
RoboCup 2019: Robot World Cup XXIII
2019
homer@UniKoblenz: Winning Team of the RoboCup@Home Open Platform League 2018
Memmesheimer, Raphael;
Mykhalchyshyna, Ivanna;
Seib, Viktor;
Evers, Tobias;
Paulus, Dietrich
RoboCup 2018: Robot World Cup XXII [Montreal, QC, Canada, June 18-22, 2018].
2019
homer@UniKoblenz: Winning Team of the RoboCup@Home Open Platform League 2017
Memmesheimer, Raphael;
Seib, Vikor;
Paulus, Dietrich
RoboCup 2017: Robot World Cup XXI
2018
Gesture Recognition On Human Pose Features Of Single Images
Memmesheimer, Raphael;
Mykhalchyshyna, Ivanna;
Paulus, Dietrich
2018 International Conference on Intelligent Systems (IS)
2018
RoboCup@Home: Summarizing achievements in over eleven years of competition
Matamoros, Mauricio;
Seib, Viktor;
Memmesheimer, Raphael;
Paulus, Dietrich
2018 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)
2018
Joint Operator Detection and Tracking for Person Following from Mobile Platforms
Wojke, Nicolai;
Memmesheimer, Raphael;
Paulus, Dietrich
International Conference on Information Fusion (Fusion),
2017
Benchmarking Speech Understanding in Service Robotics
Vanzo, Andrea;
Iocchi, Luca;
Nardi, Daniele;
Memmesheimer, Raphael;
Paulus, Dietrich;
Ivanovska, Iryna;
Kraetzschmar, Gerhard
Proceedings of the 4th Italian Workshop on Artificial Intelligence and Robotics A workshop of the XVI International Conference of the Italian Association for Artificial Intelligence (AI*IA 2017), Bari, Italy, November 14-15, 2017.
2017
A ROS-based System for an Autonomous Service Robot
Seib, Viktor;
Memmesheimer, Raphael;
Paulus, Dietrich
Robot Operating System (ROS): The Complete Reference (Volume 1)
2016
Team Homer@ UniKoblenz --- Approaches and Contributions to the RoboCup@Home Competition
Seib, Viktor;
Manthe, Stephan;
Memmesheimer, Raphael;
Polster, Florian;
Paulus, Dietrich
RoboCup 2015: Robot World Cup XIX
2015
Ensemble Classifier for Joint Object Instance and Category Recognition on RGB-D Data
Seib, Viktor;
Memmesheimer, Raphael;
Paulus, Dietrich
IEEE International Conference on Image Processing (ICIP)
2015
Awards
1st Place
2022, ANA Avatar XPRIZE Challenge Las Vegas, USA
1st in AdultSize Soccer Competition / 1st in AdultSize Technical Challenge / 1st in AdultSize Drop-In Challenge / Best Humanoid Award
2022, RoboCup World Cup Bangkok, Thailand
Video Award for AcRec internship
2022, Day of Computervisualistics Koblenz, Germany
Placed 3rd in the Customer Interaction Category of the Future Convenience Store Challenge (private attendance)
2021, World Robot Summit Nagoya, Japan
Limbo (private built robot was awarded)
2021, Region56+ Award Koblenz, Germany
Placed 1st in the Heart-Met Gesture Recognition Challenge / Placed 1st in the Heart-Met Action Recognition Challenge (AcRec@UniKoblenz)
2021, Metrics Project Online
Placed 1st in the chair valuation (AcRec internship)
2021, Day of Computervisualistics Koblenz, Germany
Placed 1st in @Home Open Platform League (World Champion)
2019, RoboCup World Cup Sydney, Australia
Best in Professional Service Robots League
2019, European Robotics League Bonn (Germany), Koblenz (Germany)
Best in Consumer Service Robots League
2019, European Robotics League Lisbon, Portugal
Placed 3rd in @Home League
2019, RoboCup German Open Magdeburg
Placed 1st in @Home Open Platform League (World Champion) / Best Poster Award Open Platform League
2018, RoboCup World Cup Montreal, Canada
Placed 3rd in the Customer Interaction Category of the Future Convenience Store Challenge
2018, World Robot Summit Tokyo, Japan
(some of them shared equally with other teams) Best in TBM1: Getting to know my home / Best in TBM2: Welcoming Visitors / Best in TBM3: Catering for Grannie Annie’s Comfort / Best in TBM5: GPSR
2018, European Robotics League Lisbon (Portugal), Edinburgh (Scotland), Barcelona (Spain)
Placed 1st in @Home League
2018, RoboCup German Open Magdeburg
Placed 1st in @Home Open Platform League (World Champion)
2017, RoboCup World Cup Nagoya, Japan
Lehrpreis Sommersemester 2017 | Projekt- und Forschungspraktikum: Robbie
2017, Lehrpreis der Hochschuldidaktischen Arbeitsstelle Koblenz, Germany
Finalist
2017, ICRA 2017 DJI RoboMaster Mobile Manipulation Challenge Singapore, Singapore
Placed 1st in @Home League
2017, RoboCup German Open Magdeburg
Placed 1st in the chair valuation
2017, Day of Computervisualistics University of Koblenz
Placed 2nd
2017, DJI RoboMaster Technical Challenge Shenzhen, China
Placed 2nd in @Home League
2016, RoboCup European Open Eindhoven, Netherlands
Finalist in @Home League
2016, RoboCup World Cup Leipzig, Germany
Placed 1st in @Home League (World Champion) / Placed 1st in Speech Recognition and Audio Detection / Best Looking Robot Award
2015, RoboCup World Cup Hefei, China
1st in overall ranking (together with team SocRob) / Best Team award
2015, RoCKIn Lisboa, Portugal
Best Demonstration in RoCKIn@Home track
2015, RoCKIn Camp Peccioli, Italy
Placed 2nd in @Home League
2015, RoboCup German Open Magdeburg
Placed 1st in the chair valuation
2015, Day of Computervisualistics University of Koblenz
1st in the @Home Track / 2nd in Object Recognition
2014, RoCKIn Toulouse, France
Finalist in the @Home League
2014, RoboCup German Open Magdeburg
Best Final Demonstration in the RoCKIn@Home track
2014, RoCKIn Camp Rome
Placed 3rd in the chair valuation / Placed 1st in the audience valuation
2013, Day of Computervisualistics University of Koblenz
Finalist in the @Home League
2013, RoboCup WorldCup Eindhoven, Netherlands