Frank Bieder

M.Sc. Frank Bieder

  • FZI Forschungszentrum Informatik
    Haid-und-Neu-Str. 10–14
    76131 Karlsruhe, Germany


My research interest lies at the intersection of computer vision and machine learning in the context of mobile perception systems. Currently, I am working on deep learning methods for 3D scene understanding to enable map-less driving or self-localization in sparse planning maps. In particular, I am interested in exploring how to overcome data shortage by leveraging the 6D pose awareness of mobile systems in highly accurate semantic 3D maps . Exampels of my current research are:


  • Übungsleiter der Vorlesung Messtechnik II (SS20, WS20/21)
  • Aufgabensteller Grundlagen der Mess- und Regelungstechnik (SS19, WS19/20, SS20)
  • Mechatronik-Praktikum (WS19/20)
  • Rechnergestützte Verfahren in der Mess- und Regelungstechnik (WS19/20, WS20/21)

Academic Services

  • Reviewer for
    • IEEE ITS Intelligent Vehicles Symposium (IV)
    • IEEE RAS International Conference for Robotics and Automatisation (ICRA)
    • IEEE RSJ International Conference on Intelligent Robots and Systems (IROS)
    • IEEE RAS Robotics and Automation Letters (RA-L)
    • De Gruyter TM-Technisches Messen (TM)
  • Chair of special session on Real-time critical perception tasks in the context of automated driving at the FUSION 2021

Completed Theses

  • Occlusion Handling for Automatic Data Generation using HD Maps and a highly accurate SLAM, master thesis, November 2020
  • Fusion of Simultaneously Learned Semantic Information from Different Representations,  master thesis, November 2020
  • A Comparison of Different Approachesto Solve the SLAM Problem on a Formula Student Driverless Race Car, master thesis, November 2020
  • Combining Sequential LiDAR Measurements For Semantic Segmentation of Multi-Layer Grid Maps, master thesis, November 2020
  • Panoptic Segmentation of Urban Scenarios, master thesis, September 2020


Christoph Burger, Johannes Fischer, Frank Bieder, Ömer Sahin Tas, Christoph Stiller. Interaction-Aware Game-Theoretic Motion Planning for Automated Vehicles Using Bi-level Optimization. In 2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC), Seiten 3978--3985, Macau, China, October 2022. (2nd Place "Best Paper Award"). [ DOI | .pdf ]

Kunyu Peng, Juncong Fei, Kailun Yang, Alina Roitberg, Jiaming Zhang, Frank Bieder, Philipp Heidenreich, Christoph Stiller, Rainer Stiefelhagen. MASS: Multi-Attentional Semantic Segmentation of LiDAR Data for Dense Top-View Understanding. IEEE T-ITS Transactions on Intelligent Transportation Systems, 2022. accepted. [ http ]

Sven Richter, Frank Bieder, Sascha Wirges, Christian Kinzig, Christoph Stiller. Sensor Data Fusion in Top-View Grid Maps using Evidential Reasoning with Advanced Conflict Resolution. In 2022 25th International Conference on Information Fusion (FUSION), Seiten 1--7, 2022. [ DOI ]

Haohao Hu, Hexing Yang, Jian Wu, Xiao Lei, Frank Bieder, Jan-Hendrik Pauls, Christoph Stiller. Large-Scale 3D Semantic Reconstruction for Automated Driving Vehicles with Adaptive Truncated Signed Distance Function. arXiv, under review, 2022. [ http ]

Haohao Hu, Fengze Han, Frank Bieder, Jan-Hendrik Pauls, Christoph Stiller. TEScalib: Targetless Extrinsic Self-Calibration of LiDAR and Stereo Camera for Automated Driving Vehicles with Uncertainty Analysis. arXiv, under review, 2022. [ http ]

Frank Bieder, Sascha Wirges, Sven Richter, Christoph Stiller. Fusion of Sequential LiDAR Measurements for Semantic Segmentation of Multi-Layer Grid Maps. tm - Technisches Messen, De Gruyter, 88, July 2021.

Juncong Fei, Kunyu Peng, Philipp Heidenreich, Frank Bieder, Christoph Stiller. PillarSegNet: Pillar-based Semantic Grid Map Estimation using SparseLiDAR Data. In IEEE Intelligent Vehicles Symposium (IV), Nagoya, Japan, July 2021. [ http ]

Nick Le Large, Frank Bieder, Martin Lauer. Comparison of Different SLAM Approaches for a Driverless Race Car / Ein Vergleich von unterschiedlichen Ansätzen zur simultanen Lokalisierung und Kartierung unter Verwendung eines fahrerlosen Rennfahrzeuges. tm - Technisches Messen, De Gruyter, 88, April 2021.

Sascha Wirges, Kevin Rösch, Frank Bieder, Christoph Stiller. Fast and Robust Ground Surface Estimation from LiDAR Measurements using Uniform B-Splines. In Proc. International Conference on Information Fusion (FUSION), Sun City, South Africa, Nov 2021.

Frank Bieder, Maximilian Link, Simon Romanski, Haohao Hu, Christoph Stiller. Improving Lidar-Based Semantic Segmentation of Top-View Grid Maps by Learning Features in Complementary Representations. In Proc. International Conference on Information Fusion (FUSION), Sun City, South Africa, Nov 2021.

Frank Bieder, Sascha Wirges, Johannes Janosovits, Sven Richter, Zheyuan Wang, Christoph Stiller. Exploiting Multi-Layer Grid Maps for Surround-View Semantic Segmentation of Sparse LiDAR Data. In Proc. IEEE Int. Conf. Intelligent Vehicles, Las Vegas, USA, June 2020.

Frank Bieder, Muti Ur Rehman, Christoph Stiller. Fusion of Sequential Information for Semantic Grid Map Estimation. In Forum Bildverarbeitung, Karlsruhe, Germany, Nov 2020.