@article{Kurda2024,
author = {Kurda, Aaron and Steuernagel, Simon and Jung, Lukas and Baum, Marcus},
journal = {TechRxiv},
title = {Reducing Drift of Lidar Odometry by Incorporating OpenStreetMap Building Data},
year = {2024},
month = sep,
archiveprefix = {Preprint},
doi = {10.36227/techrxiv.172349303.35859650/v2},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)}
}
Point Cloud Registration based on Gaussian Mixtures and Pairwise Wasserstein Distances
S. Steuernagel, A. Kurda, and M. Baum
2023 IEEE Symposium Sensor Data Fusion and International Conference on Multisensor Fusion and Integration (SDF-MFI), Bonn, Germany, 2023.
@inproceedings{2023_Steuernagel,
author = {Steuernagel, Simon and Kurda, Aaron and Baum, Marcus},
booktitle = {2023 IEEE Symposium Sensor Data Fusion and International Conference on Multisensor Fusion and Integration (SDF-MFI)},
title = {Point Cloud Registration based on {G}aussian Mixtures and Pairwise {W}asserstein Distances},
year = {2023},
address = {Bonn, Germany},
month = nov,
pages = {1-8},
publisher = {IEEE},
code = {https://github.com/Fusion-Goettingen/MFI_2023_Steuernagel_GWDICP},
doi = {10.1109/sdf-mfi59545.2023.10361440}
}
@article{Steuernagel2025,
author = {Steuernagel, Simon and Baum, Marcus},
journal = {IEEE Transactions on Signal Processing},
title = {Extended Object Tracking by {R}ao-{B}lackwellized Particle Filtering for Orientation Estimation},
year = {2025},
volume = {},
number = {},
pages = {1-13},
code = {https://github.com/Fusion-Goettingen/TSP_2025_Steuernagel_RBPF},
doi = {10.1109/TSP.2025.3574689}
}
Modeling Contour Measurements of Elliptical Extended Objects via Gaussian Spatial Distributions
S. Steuernagel, K. Thormann, and M. Baum
2024 Sensor Data Fusion: Trends, Solutions, Applications (SDF), 2024.
@article{Kurda2024,
author = {Kurda, Aaron and Steuernagel, Simon and Jung, Lukas and Baum, Marcus},
journal = {TechRxiv},
title = {Reducing Drift of Lidar Odometry by Incorporating OpenStreetMap Building Data},
year = {2024},
month = sep,
archiveprefix = {Preprint},
doi = {10.36227/techrxiv.172349303.35859650/v2},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)}
}
Random Matrix-based Tracking of Rectangular Extended Objects with Contour Measurements
S. Steuernagel, K. Thormann, and M. Baum
2024 27th International Conference on Information Fusion (FUSION), 2024.
@inproceedings{Steuernagel2024a,
author = {Steuernagel, Simon and Thormann, Kolja and Baum, Marcus},
booktitle = {2024 27th International Conference on Information Fusion (FUSION)},
title = {Random Matrix-based Tracking of Rectangular Extended Objects with Contour Measurements},
year = {2024},
month = jul,
pages = {1--8},
publisher = {IEEE},
doi = {10.23919/fusion59988.2024.10706288}
}
Indoor Localization based on Short-Range Radar and Rotating Landmarks
K. Thormann, S. Steuernagel, and M. Baum
2024 27th International Conference on Information Fusion (FUSION), 2024.
@inproceedings{Thormann2024,
author = {Thormann, Kolja and Steuernagel, Simon and Baum, Marcus},
booktitle = {2024 27th International Conference on Information Fusion (FUSION)},
title = {Indoor Localization based on Short-Range Radar and Rotating Landmarks},
year = {2024},
month = jul,
pages = {1--8},
publisher = {IEEE},
doi = {10.23919/fusion59988.2024.10706316}
}
Point Cloud Registration based on Gaussian Mixtures and Pairwise Wasserstein Distances
S. Steuernagel, A. Kurda, and M. Baum
2023 IEEE Symposium Sensor Data Fusion and International Conference on Multisensor Fusion and Integration (SDF-MFI), Bonn, Germany, 2023.
@inproceedings{2023_Steuernagel,
author = {Steuernagel, Simon and Kurda, Aaron and Baum, Marcus},
booktitle = {2023 IEEE Symposium Sensor Data Fusion and International Conference on Multisensor Fusion and Integration (SDF-MFI)},
title = {Point Cloud Registration based on {G}aussian Mixtures and Pairwise {W}asserstein Distances},
year = {2023},
address = {Bonn, Germany},
month = nov,
pages = {1-8},
publisher = {IEEE},
code = {https://github.com/Fusion-Goettingen/MFI_2023_Steuernagel_GWDICP},
doi = {10.1109/sdf-mfi59545.2023.10361440}
}
Evaluation Scores for Elliptic Extended Object Tracking Considering Diverse Object Sizes
S. Steuernagel, K. Thormann, and M. Baum
2023 26th International Conference on Information Fusion (FUSION), Charleston, SC, USA, 2023.
@inproceedings{Wolf_2023,
author = {Wolf, Laura M. and Steuernagel, Simon and Thormann, Kolja and Baum, Marcus},
booktitle = {2023 26th International Conference on Information Fusion (FUSION)},
title = {Track-to-track Association based on Stochastic Optimization},
year = {2023},
address = {Charleston, SC, USA},
month = jun,
pages = {1-7},
publisher = {IEEE},
code = {https://github.com/Fusion-Goettingen/Fusion_2023_Wolf_T2TA},
doi = {10.23919/fusion52260.2023.10224113}
}
CNN-based Shape Estimation for Extended Object Tracking using Point Cloud Measurements
S. Steuernagel, K. Thormann, and M. Baum
2022 25th International Conference on Information Fusion (FUSION), Linköping, Sweden, 2022.
@inproceedings{2022_Steuernagel,
author = {Steuernagel, Simon and Thormann, Kolja and Baum, Marcus},
booktitle = {2022 25th International Conference on Information Fusion (FUSION)},
title = {{CNN}-based Shape Estimation for Extended Object Tracking using Point Cloud Measurements},
year = {2022},
address = {Link\"oping, Sweden},
month = jul,
pages = {1-8},
publisher = {IEEE},
code = {https://github.com/Fusion-Goettingen/Fusion2022_Steuernagel_CNN-EOT},
doi = {10.23919/fusion49751.2022.9841254}
}
@inproceedings{Wolf2024,
author = {Wolf, Laura M. and Baum, Marcus},
booktitle = {2024 27th International Conference on Information Fusion (FUSION)},
title = {Track-to-track Association based on Deterministic Sampling using Herding},
year = {2024},
month = jul,
pages = {1--6},
publisher = {IEEE},
doi = {10.23919/fusion59988.2024.10706350}
}
Track-to-track Association based on Stochastic Optimization
L. M. Wolf, S. Steuernagel, K. Thormann, and M. Baum
2023 26th International Conference on Information Fusion (FUSION), Charleston, SC, USA, 2023.
@inproceedings{Wolf_2023,
author = {Wolf, Laura M. and Steuernagel, Simon and Thormann, Kolja and Baum, Marcus},
booktitle = {2023 26th International Conference on Information Fusion (FUSION)},
title = {Track-to-track Association based on Stochastic Optimization},
year = {2023},
address = {Charleston, SC, USA},
month = jun,
pages = {1-7},
publisher = {IEEE},
code = {https://github.com/Fusion-Goettingen/Fusion_2023_Wolf_T2TA},
doi = {10.23919/fusion52260.2023.10224113}
}
Deterministic Gaussian Filtering based on Herding
L. M. Wolf and M. Baum
2022 25th International Conference on Information Fusion (FUSION), Linköping, Sweden, 2022.
@inproceedings{2022_Wolf,
author = {Wolf, Laura M. and Baum, Marcus},
booktitle = {2022 25th International Conference on Information Fusion (FUSION)},
title = {Deterministic {G}aussian Filtering based on Herding},
year = {2022},
address = {Link\"oping, Sweden},
month = jul,
pages = {1-8},
publisher = {IEEE},
code = {https://github.com/Fusion-Goettingen/Fusion_2022_Wolf_HKF},
doi = {10.23919/fusion49751.2022.9841346}
}
Continuous Herded Gibbs Sampling
L. Wolf and M. Baum
2021 IEEE 24th International Conference on Information Fusion (FUSION), South Africa, 2021.
@inproceedings{2020_Wolf,
author = {Wolf, Laura M. and Baum, Marcus},
booktitle = {2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)},
title = {Deterministic {G}ibbs Sampling for Data Association in Multi-Object Tracking},
year = {2020},
address = {Virtual},
month = sep,
pages = {291-296},
publisher = {IEEE},
code = {https://github.com/Fusion-Goettingen/HerdedGibbs},
doi = {10.1109/mfi49285.2020.9235211}
}
Marginal Association Probabilities for Multiple Extended Objects without Enumeration of Measurement Partitions
S. Yang, L. M. Wolf, and M. Baum
2020 IEEE 23rd International Conference on Information Fusion (FUSION), Virtual, 2020.
@inproceedings{2020_Fusion_Yang,
author = {Yang, Shishan and Wolf, Laura M. and Baum, Marcus},
booktitle = {2020 IEEE 23rd International Conference on Information Fusion (FUSION)},
title = {Marginal Association Probabilities for Multiple Extended Objects without Enumeration of Measurement Partitions},
year = {2020},
address = {Virtual},
month = jul,
pages = {1-8},
publisher = {IEEE},
doi = {10.23919/fusion45008.2020.9190500}
}
External PhD students
Nils Kornfeld, M. Sc.
Affiliation
German Aerospace Center (DLR), Institute of Transportation Sytems, Berlin
Research area
Machine learning, deep learning, computer vision, tracking
Claudia Malzer, M. Sc.
Research area
Spatial information systems, clustering
Publications: Claudia Malzer
Constraint-Based Hierarchical Cluster Selection in Automotive Radar Data