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Photo Martin Lauer

Dr. rer. nat. Martin Lauer

Group Leader / Gruppenleiter
Gruppe: 

Railway Localization


Raum: 137
Tel.: +49 721 608-43602
Fax: +49 721 661874
martin lauerTgg8∂kit edu

Karlsruher Institut für Technologie
Institut für Mess- und Regelungstechnik
Engler-Bunte-Ring 21
Gebäude 40.32
D-76131 Karlsruhe




Forschung

Lehre
Titel Semester Ort Zeit
Sommersemester

Montag: Tulla HS
Geb. 11.40

Freitag: kleiner Hörsaal
Geb. 10.50

Sommersemester Geb. 40.33,
Maschinenhalle des Instituts
Wintersemester

Rudolf-Plank-Hörsaal (RPH), Geb. 40.32.

Wintersemester Maschinenhalle des MRT, Geb. 40.32


Aktuelle Forschungsprojekte
Titel Ansprechpartner


Abgeschlossene Forschungsprojekte
Titel Ansprechpartner


Veröffentlichungen

Jannik Quehl, Haohao Hu, Ömer Sahin Tas, Eike Rehder, Martin Lauer. How Good is My Prediction? Finding a Similarity Measure for Trajectory Prediction Evaluation. In Proc. IEEE Intell. Trans. Syst. Conf., Yokohama, Japan, October 2017. (to appear).

Wei Tian, Martin Lauer. Joint Tracking with Event Grouping and Temporal Constraints. In IEEE International Conference on Advanced Video and Signal based Surveillance Workshop (AVSS), August 2017.

Siwei Lyu, Ming-Ching Chang, Dawei Du, Longyin Wen, Honggang Qi, Yuezun Li, Yi Wei, Lipeng Ke, Tao Hu, Marco Del Coco, Pierluigi Carcagni, Dmitriy Anisimov, Fabio Galasso, Filiz Bunyak, Guang Han, Hao Ye, Hong Wang, Kannappan Palaniappan, Koray Ozcan, Li Wang, Liang Wang, Martin Lauer, Nattachai Watcharapinchai, Nenghui Song, Noor M. Al-Shakarji, Shuo Wang, Sikandar Amin, Sitapa Rujikietgumjorn, Tatiana Khanova, Thomas Sikora, Tino Kutschbach, Volker Eiselein, Wei Tian, Xiangyang Xue, Xiaoyi Yu, Yao Lu, Yingbin Zheng, Yongzhen Huang, Yuqi Zhang. UA-DETRAC 2017: Report of AVSS2017 & IT4S Challenge on Advance Traffic Monitoring. In IEEE International Conference on Advanced Video and Signal based Surveillance, August 2017.

Eike Rehder, Christian Kinzig, Philipp Bender, Martin Lauer. Online Stereo Camera Calibration From Scratch. In Proc. IEEE Int. Conf. Intelligent Vehicles, June 2017. [ .pdf ]

Marc Sons, Martin Lauer, Christoph G. Keller, Christoph Stiller. Mapping and Localization using Surround View. In 2017 IEEE Intelligent Vehicles Symposium (IV), June 2017. [ .pdf ]

Wei Tian, Martin Lauer. Tracking Vulnerable Road Users with Severe Occlusion by Adaptive Part Filter Modeling. In IEEE International Conference on Vehicular Electronics and Safety (ICVES), June 2017.

Sascha Wirges, Björn Roxin, Eike Rehder, Tilman Kühner, Martin Lauer. Guided Depth Upsampling for Precise Mapping of Urban Environments. In Proc. IEEE Int. Conf. Intelligent Vehicles, June 2017. [ .pdf ]

Wei Tian, Martin Lauer. Detection and Orientation Estimation for Cyclists by Max Pooled Features. In International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP), February 2017. [ .pdf ]

Hanno Winter, Volker Willert, Jürgen Adamy, Michael Leining, Max Spindler, Martin Lauer, Denis Stein, Oliver Heirich, Jörn Groos, Arne Geffert, Uwe Becker, Michael Breuer. Localization Reference Train - Sichere Ortung für den Schienenverkehr. In Proc. Scientific Railway Signalling Symp., 2017. in press.

Niels Ole Salscheider, Eike Rehder, Martin Lauer. Analysis of Regionlets for Pedestrian Detection. In 6th International Conference on Pattern Recognition Applications and Methods, 2017.

Johannes Gräter, Tobias Strauss, Martin Lauer. Momo: Monocular Motion Estimation on Manifolds. In 2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC), 2017. [ .pdf ]

Tobias Schwarze, Martin Lauer, Manuel Schwaab, Michailas Romanovas, Sandra Böhm, Thomas Jürgensohn. Ein kamerabasierter Ansatz zur intuitiven Assistenz sehbehinderter Menschen. In Michael Heizmann, Thomas Längle, Fernando Puente León, Herausgeber, Forum Bildverarbeitung, Seiten 269 -- 283, December 2016. [ DOI ]

Peng Chen, Peijun Wang, Martin Lauer, Xiaomin Tang, Jindong Wang. A rail wear measurement method based on structured light scanning. In Alexander V. Bernstein, Adrian Olaru, Jianhong Zhou, Herausgeber, Proceedings of the International Conference on Robotics and Machine Vision (ICRMV), Bellingham, September 2016. [ DOI ]

Peng Chen, Martin Lauer, Peijun Wang, Wentao Li. A Model Comparison Method In Digital Inspection Of Railway Track Wear. In C.A. Brebbia, J.M. Mera, N. Tomii, P. Tzieropoulos, Herausgeber, Computers in Railways XV, Band 162 of WIT Transactions on The Built Environment, Seiten 263--272, Southampton, September 2016. WIT Press. [ DOI ]

Max Spindler, Denis Stein, Martin Lauer. Difference-Inductance-Sensor zur berührungslosen Geschwindigkeitsbestimmung von Zügen. In Stefan Zimmermann, Herausgeber, XXX. Messtechnisches Symposium, Seiten 193--200, Berlin, Boston, September 2016. De Gruyter. [ DOI ]

Max Spindler, Denis Stein, Martin Lauer. Low Power and Low Cost Sensor for Train Velocity Estimation. In Proceedings of the IEEE International Conference on Intelligent Rail Transportation (ICIRT), Seiten 259--264, August 2016. [ DOI ]

Denis Stein, Max Spindler, Martin Lauer. Model-based rail detection in mobile laser scanning data. In Proceedings of the IEEE Intelligent Vehicles Symposium (IV), Seiten 654--661, June 2016. [ DOI ]

Tobias Schwarze, Martin Lauer, Manuel Schwaab, Michailas Romanovas, Sandra Böhm, Thomas Jürgensohn. A Camera-Based Mobility Aid for Visually Impaired People. KI - Künstliche Intelligenz, 30(1):29--36, February 2016. [ DOI | http ]

Denis Stein, Max Spindler, Janina Kuper, Martin Lauer. Rail detection using lidar sensors. International Journal of Sustainable Development and Planning, 11(1):65--78, February 2016. [ DOI ]

Johannes Gräter, Tobias Strauss, Martin Lauer. Photometric laser scanner to camera calibration for low resolution sensors. In 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC), 2016. [ .pdf ]

Johannes Gräter, Wei Tian, Martin Lauer, Christoph Stiller. ABALID: Abbiegeassistenz mit 3D-LIDAR-Sensorik. Abschlussbericht des Teilvorhabens 3D-Objekterkennung und semantische Analyse. Technical report, Karlsruhe Institute of Technology, 2016. [ DOI ]

Tobias Schwarze, Martin Lauer, Manuel Schwaab, Michailas Romanovas, Sandra Böhm, Thomas Jürgensohn. An Intuitive Mobility Aid for Visually Impaired People Based on Stereo Vision. In The IEEE International Conference on Computer Vision (ICCV) Workshops, December 2015. [ .pdf ]

Tobias Schwarze, Martin Lauer. Minimizing Odometry Drift by Vanishing Direction References. In Indoor Positioning and Indoor Navigation (IPIN), 2015 International Conference on, October 2015. [ .pdf ]

Wei Tian, Martin Lauer. Fast Cyclist Detection by Cascaded Detector and Geometric Constraint. In IEEE International Conference on Intelligent Transportation Systems (ITSC), September 2015. [ .pdf ]

Timo Hackel, Denis Stein, Ingo Maindorfer, Martin Lauer, Alexander Reiterer. Track detection in 3D laser scanning data of railway infrastructure. In Proceedings of the IEEE International Instrumentation and Measurement Technology Conference (I2MTC), Seiten 693--698, May 2015. [ DOI ]

Tobias Schwarze, Martin Lauer. Robust Ground Plane Tracking in Cluttered Environments from Egocentric Stereo Vision. In IEEE International Conference on Robotics and Automation (ICRA), May 2015. [ .pdf | http ]

Martin Lauer, Denis Stein. A Train Localization Algorithm for Train Protection Systems of the Future. IEEE Transactions on Intelligent Transportation Systems, 16(2):970--979, April 2015. [ DOI ]

Johannes Gräter, Martin Lauer. Monoscopic Automotive Ego-Motion Estimation and Cyclist Tracking. In Doctoral Consortium at 10th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP), Best Paper award, March 2015. [ .pdf ]

Hansjörg Manz, Eckehard Schnieder, Denis Stein, Max Spindler, Martin Lauer, Carsten Seedorff, Arne Baudis, Uwe Becker, Julie Beugin, T.P. Khanh Nguyen, Juliette Marais. GaLoROI: Satellite based localization in railways. In Proceedings of the International Congress of Advanced Railway Engineering (IC-ARE), Seiten 322--329, March 2015.

Wei Tian, Martin Lauer. Fast and Robust Cyclist Detection for Monocular Camera Systems. In Doctoral Consortium at 10th International joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP), March 2015. [ .pdf ]

Thao Dang, Martin Lauer, Philipp Bender, Markus Schreiber, Julius Ziegler, Uwe Franke, Hans Fritz, Tobias Strauss, Henning Lategahn, Christoph G. Keller, Eberhard Kaus, Clemens Rabe, Nils Appenrodt, David Pfeiffer, Frank Lindner, Fridtjof Stein, Friedrich Erbs, Markus Enzweiler, Carsten Knöppel, Jochen Hipp, Martin Haueis, Maximilian Trepte, Carsten Brenk, Andreas Tamke, Mohammad Ghanaat, Markus Braun, Armin Joos, Horst Mock, Martin Hein, Dominik Petrich, Nicolai Schneider, Winfried Kronjäger, Eberhard Zeeb, Christoph Stiller, Ralf G. Herrtwich. Autonomes Fahren auf der historischen Bertha-Benz-Route. tm-Technisches Messen, 82(5):280--297, 2015.

Johannes Gräter, Tobias Schwarze, Martin Lauer. Robust scale estimation for monocular visual odometry using structure from motion and vanishing points. In IEEE Intelligent Vehicles Symposium (IV), 2015. [ .pdf ]

Hannes Harms, Eike Rehder, Martin Lauer. Grid Map based Free Space Estimation using Stereo Vision. In 1st Workshop on Environment Perception for Automated On-road Vehicles, IEEE Intelligent Vehicles Symposium, 2015. [ .pdf | http ]

Hannes Harms, Eike Rehder, Tobias Schwarze, Martin Lauer. Detection of Ascending Stairs using Stereo Vision. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Seiten 2496--2502. IEEE, 2015. [ DOI | .pdf | http ]

Tobias Schwarze, Martin Lauer. Geometry Estimation of Urban Street Canyons Using Stereo Vision from Egocentric View, Band 325 of Lecture Notes in Electrical Engineering. Springer International Publishing, 2015. [ DOI | http ]

Tobias Schwarze, Martin Lauer, Christoph Stiller. OIWOB: Orientieren, Informieren, Warnen. Orientierungshilfe für Blinde : Abschlussbericht des Teilprojektes: 3D-Objekterkenung und semantische Analyse. Technical report, Karlsruhe Institute of Technology, 2015. [ DOI ]

Denis Stein, Max Spindler, Martin Lauer. Lidar sensors for detecting railway infrastructure and their usage in train-borne localization systems. November 2014. Poster: MoLaS Technology Workshop, Freiburg.

Denis Stein, Martin Lauer, Max Spindler. An analysis of different sensors for turnout detection for train-borne localization systems. In C.A. Brebbia, N. Tomii, P. Tzieropoulos, J.M. Mera, Herausgeber, Computers in Railways XIV: Railway Engineering Design and Optimization, Band 135 of WIT Transactions on The Built Environment, Seiten 827--838, Southampton, June 2014. WIT Press. [ DOI ]

Andreas Geiger, Martin Lauer, Christian Wojek, Christoph Stiller, Raquel Urtasun. 3D Traffic Scene Understanding From Movable Platforms. Pattern Analysis and Machine Intelligence, IEEE Transactions on, 36(5):1012--1025, May 2014. [ DOI | .pdf ]

Martin Lauer, Denis Stein. Algorithms and concepts for an onboard train localization system for safety-relevant services. In Proceedings of the IEEE International Conference on Intelligent Rail Transportation (ICIRT), Seiten 65--70, August/September 2013. [ DOI ]

Tobias Schwarze, Martin Lauer. Wall Estimation from Stereo Vision in Urban Street Canyons. In ICINCO (2), Seiten 83--90, 2013. [ DOI | .pdf ]

Andreas Geiger, Martin Lauer, Frank Moosmann, Benjamin Ranft, Holger Rapp, Christoph Stiller, Julius Ziegler. Team AnnieWAY's entry to the Grand Cooperative Driving Challenge 2011. IEEE Transactions on Intelligent Transportation Systems, 13(3):1008--1017, September 2012. [ .pdf ]

Martin Lauer. Autonome Fahzeugführung im Automobilbereich - Stand und Entwicklungen. In Geomatik aktuell 2012: Präzise Navigation und mobile Geodatenerfassung - Out- und Indoor Karlsruher Geowissenschaftliche Schriften. Reihe B: Vermessungswesen und Photogrammetrie, Band 7, Seiten 97--104. Hochschule Karlsruhe-Technik und Wirschaft, Fakultät für Geomatik, 2012.

Miriam Schönbein, Holger Rapp, Martin Lauer. Panoramic 3D Reconstruction with Three Catadioptric Cameras. In 12th International Conference on Intelligent Autonomous Systems (IAS-12), Jeju Island, Korea, 2012. [ .pdf ]

Miriam Schönbein, Bernd Kitt, Martin Lauer. Environmental Perception for Intelligent Vehicles Using Catadioptric Stereo Vision Systems. In Proc. of the European Conference on Mobile Robots (ECMR), Örebro, Sweden, September 2011.

Andreas Geiger, Martin Lauer, Raquel Urtasun. A Generative Model for 3D Urban Scene Understanding from Movable Platforms. In Computer Vision and Pattern Recognition (CVPR), Colorado Springs, USA, June 2011. [ .pdf ]

Martin Lauer. A Case Study on Learning a Steering Controller from Scratch with Reinforcement Learning. In IEEE Intelligent Vehicles Symposium (IV '11), Seiten 260--265, Baden-Baden, June 2011.

Martin Lauer, Miriam Schönbein, Sascha Lange, Stefan Welker. 3D-objecttracking with a mixed omnidirectional stereo camera system. Mechatronics, 21(2):390--398, March 2011.

Martin Lauer. Die Autobahn als Fließband. Spekturm der Wissenschaft, 9/2011:86--88, Sept. 2011.

Martin Lauer, Roland Hafner, Sascha Lange, Martin Riedmiller. Cognitive concepts in autonomous soccer playing robots. Cognitive Systems Research, 11(3):287--309, September 2010.

Martin Lauer, Martin Riedmiller. Participating in Autonomous Robot Competitions: Experiences from a Robot Soccer Team. In Workshop on Competitions in Artificial Intelligence and Robotics at the International Joint Conference on Artificial Intelligence, July 2009.

cand. Dipl.-Math. Jonas Firl, MBE Marko Hoerter, Dr. rer. nat. Martin Lauer, Prof. Dr.-Ing. Christoph Stiller. Vehicle Detection, Classification and Position Estimation based on Monocular Video Data during Night-time. In International Symposium on Automotive Lighting 2009, Darmstadt, 2009.

Martin Riedmiller, Roland Hafner, Sascha Lange, Martin Lauer. Learning to dribble on a real robot by success and failure. In Proceedings of the IEEE International Conference on Robotics and Automation, Seiten 2207--2208, 2008.

Verena Heidrich-Meisner, Martin Lauer, Christian Igel, Martin Riedmiller. Reinforcement Learning in a Nutshell. In Proceedings of the 15th European Symposium on Artificial Neural Networks, Seiten 277--288, 2007.

Martin Lauer, Roland Hafner. Roboter lernen Fußball spielen. Band 2/2007, Seiten 82--87, 2007.

Heiko Müller, Martin Lauer, Roland Hafner, Sascha Lange, Artur Merke, Martin Riedmiller. Making a Robot Learn to Play Soccer Using Reward and Punishment. In KI 2007 Advances in Artificial Intelligence, Seiten 220--234, 2007.

Arne Voigtländer, Sascha Lange, Martin Lauer, Martin Riedmiller. Real-time 3D Ball Recognition using Perspective and Catadioptric Cameras. In Proceedings of the third European Conference on Mobile Robots, 2007.

Thomas Gabel, Roland Hafner, Sascha Lange, Martin Lauer, Martin Riedmiller. Bridging the Gap: Learning in the RoboCup Simulation and Midsize League. In Proceedings of the 7th Portuguese Conference on Automatic Control (Controlo 2006), 2006.

Roland Hafner, Sascha Lange, Martin Lauer, Martin Riedmiller. Brainstormers Tribots Team Description. In RoboCup 2006: Robot Soccer World Cup X, 2006.

Martin Lauer. Ego-Motion Estimation and Collision Detection for Omnidirectional Robots. In RoboCup 2006: Robot Soccer World Cup X, 2006.

Martin Lauer, Sascha Lange, Martin Riedmiller. Calculating the Perfect Match: an Efficient and Accurate Approach for Robot Self-Localization. In Robocup 2005: Robot Soccer World Cup IX, Seiten 142--153, 2006.

Martin Lauer, Sascha Lange, Martin Riedmiller. Motion Estimation of Moving Objects for Autonomous Mobile Robots. Band 20, Seiten 11--17, 2006.

Martin Riedmiller, Thomas Gabel, Roland Hafner, Sascha Lange, Martin Lauer. Die Brainstormers: Entwurfsprinzipien lernfähiger autonomer Roboter. Band 29, Seiten 175--190, 2006.

Martin Lauer, Sascha Lange, Martin Riedmiller. Modeling Moving Objects in a Dynamically Changing Robot Application. In KI 2005: Advances in Artificial Intelligence, Seiten 291--303, 2005.

Martin Lauer. Entwicklung eines Monte-Carlo-Verfahrens zum selbständigen Lernen von Gauß-Mischverteilungen. 2004.

Martin Lauer, Martin Riedmiller. Reinforcement Learning for Stochastic Cooperative Multi-Agent Systems. In Proceedings of the Third International Joint Conference on Autonomous Agents and Multiagent Systems, Seiten 1516--1517, 2004.

Martin Arbatzat, Stefan Freitag, Michael Fricke, Roland Hafner, Christian Heermann, Kolja Hegelich, Andreas Krause, Jan Krüger, Martin Lauer, Matthias Lewandowski, Artur Merke, Heiko Müller, Martin Riedmiller, Jürgen Schanko, Martin Schulte-Hobein, Madeleine Theile, Stefan Welker, Daniel Withopf. Creating a Robot Soccer Team from Scratch: the Brainstormers Tribots. In Proceedings Robocup 2003, 2003.

Martin Lauer, Martin Riedmiller, Thomas Ragg, Walter Baum, Michael Wigbers. The Smaller the Better: Comparison of Two Approaches for Sales Rate Prediction. In Advances in Intelligent Data Analysis V, Seiten 451--461, 2003.

Martin Lauer. Sampling Parameters to Estimate a Mixture Distribution with Unknown Size. In Artificial Neural Networks - ICANN 2002, Seiten 414--419, 2002.

Martin Lauer, Martin Riedmiller. Generalization in Reinforcement Learning and the Use of Observation-Based Learning. In Gabriella Kókai, Jens Zeidler, Herausgeber, Maschinelles Lernen - FGML 2002, Seiten 100--107, 2002.

Martin Lauer. A Mixture Approach to Novelty Detection Using Training Data with Outliers. In Proceedings of the 12th European Conference on Machine Learning, Seiten 300--311, 2001.

Martin Lauer, Martin Riedmiller. An Algorithm for Distributed Reinforcement Learning in Cooperative Multi-Agent Systems. In Proceedings of the Seventeenth International Conference on Machine Learning, Seiten 535--542, 2000.