M.Sc. Frank Bieder

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

Research

My research lies at the intersection of machine learning, robotics, and computer vision, with a focus on scalable training data generation and cross-sensor domain adaptation for embodied AI systems. By bridging maps, perception and learning, I enable robust real-world models under limited annotation and significant sensor domain shifts. Examples of my current research are:

Learning from maps: Scalable ground truth generation in autonomous driving
Cross-sensor domain-adaptation for embodied AI
Scaling real-world application of end-to-end-stacks in urban scenes

Teaching

Lecturer: Probabilistic Measurement Systems and Estimation (SS23)
Teaching assistant: Probabilistic Measurement Systems and Estimation (SS20, WS20/21, SS21, WS21/22, SS22, WS22/23)
Examiner: Measurement and Control Systems (SS19, WS19/20, SS20, SS21, WS21/22, WS22/23)
Teaching assistant in diverse university labs (WS19/20, WS20/21, WS21/22)

Academic Services

Reviewer for
- CVF Winter Conference for Computer Vision (WACV)
- IEEE ITS Intelligent Vehicles Symposium (IV)
- IEEE ITS Intelligent Transportation Systems Magazine (ITS-M)
- IEEE RAS International Conference for Robotics and Automatization (ICRA)
- IEEE RSJ International Conference on Intelligent Robots and Systems (IROS)
- IEEE RAS Robotics and Automation Letters (RA-L)
- Springer International Journal of Computer Vision (VISI)
Chair of FMAD workshop on Foundation Models for Autonomous Driving at IEEE International Conference on Intelligent Transportation Systems (ITSC) 2024 in Edmonton, Canada, and 2025 in Gold Coast, Australia.
Chair of MB2ML workshop on Bridging the gap between map-based and map-less driving at IEEE Intelligent Vehicles Symposium (IV) 2022 in Aachen, Germany, and 2023 in Anchorage, USA. Also co-organized it MB2ML in 2025 and 2026.
Chair of special session on Real-time critical perception tasks in the context of automated driving at FUSION 2021 in Sun City, South Africa, and FUSION 2022 in Linköping, Sweden.

Completed Theses

Online vectorized BEV perception on custom sensor setup, master thesis 2025
Impact of localization error on online HD map construction of a custom sensor dataset, master thesis 2025
Bird’s-eye-view perception for autonomous driving, master thesis 2024
Imitation learning with temporal information in autonomous driving using CARLA, master thesis 2023
Recursive fusion of sequential LiDAR measurements considering dynamic occlusions for the creation of grid maps in the context of autonomous driving, master thesis 2022
Automated data generation with HD maps for machine learning in the context of automated driving, master thesis 2021
Panoptic segmentation of urban scenarios, master thesis 2020
Combining sequential LiDAR measurements for semantic segmentation of multi-layer grid maps, master thesis 2020
A comparison of different approaches to solve the SLAM problem on a Formula Student driverless race car, master thesis 2020
Fusion of simultaneously learned semantic information from different representations, master thesis 2020
Occlusion handling for automatic data generation using HD maps and a highly accurate SLAM, master thesis 2020

Publications

M3TR: A Generalist Model for Real-World HD Map Completion
Immel, F.; Fehler, R.; Bieder, F.; Pauls, J.-H.; Stiller, C.
2025. IEEE Robotics and Automation Letters, 10 (12), 12541–12548. doi:10.1109/LRA.2025.3621966
Ein Ansatz zur automatisierten Erstellung von Trainingsdaten unter Verwendung von HD-Karten und Mehrfachbefahrungen
Bieder, F.; Hu, H.; Schantz, J.; Kirik, O.; Ries, F.; Haueis, M.; Stiller, C.
2023. Uni-DAS 15. Workshop Fahrerassistenz und automatisiertes Fahren, FAS 2023, 24. – 26.10.2023 Kloster Bonlanden, Berkheim. Hrsg.: K. Bengler, 17–26, Uni-DAS
Large-Scale 3D Semantic Reconstruction for Automated Driving Vehicles with Adaptive Truncated Signed Distance Function
Hu, H.; Yang, H.; Wu, J.; Lei, X.; Bieder, F.; Pauls, J.-H.; Stiller, C.
2023. Proc. IEEE Intelligent Vehicles Symposium (IV). Ed.: IEEE, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IV55152.2023.10186691
Sensor Data Fusion in Top-View Grid Maps using Evidential Reasoning with Advanced Conflict Resolution
Richter, S.; Bieder, F.; Wirges, S.; Kinzig, C.; Stiller, C.
2022. 25th International Conference on Information Fusion (FUSION), Linköping, Sweden, 04-07 July 2022, Linköping, Sweden, 04-07 July 2022, Institute of Electrical and Electronics Engineers (IEEE). doi:10.23919/FUSION49751.2022.9841241
TEScalib: Targetless Extrinsic Self-Calibration of LiDAR and Stereo Camera for Automated Driving Vehicles with Uncertainty Analysis
Hu, H.; Han, F.; Bieder, F.; Pauls, J.-H.; Stiller, C.
2022. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 6256–6263, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS47612.2022.9981651
Interaction-Aware Game-Theoretic Motion Planning for Automated Vehicles using Bi-level Optimization
Burger, C.; Fischer, J.; Bieder, F.; Tas, O. S.; Stiller, C.
2022. 2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC), 3978–3985, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ITSC55140.2022.9922600
MASS: Multi-Attentional Semantic Segmentation of LiDAR Data for Dense Top-View Understanding
Peng, K.; Fei, J.; Yang, K.; Roitberg, A.; Zhang, J.; Bieder, F.; Heidenreich, P.; Stiller, C.; Stiefelhagen, R.
2022. IEEE transactions on intelligent transportation systems, 23 (9), 15824–15840. doi:10.1109/TITS.2022.3145588
Improving Lidar-Based Semantic Segmentation of Top-View Grid Maps by Learning Features in Complementary Representations
Bieder, F.; Link, M.; Romanski, S.; Hu, H.; Stiller, C.
2021. Proceedings of 2021 24th International Conference on Information Fusion (FUSION), 64–70, Institute of Electrical and Electronics Engineers (IEEE). doi:10.23919/FUSION49465.2021.9627069
Fast and Robust Ground Surface Estimation from LiDAR Measurements using Uniform B-Splines
Wirges, S.; Rösch, K.; Bieder, F.; Stiller, C.
2021. 2021 IEEE 24th International Conference on Information Fusion (FUSION). Hrsg.: IEEE, Institute of Electrical and Electronics Engineers (IEEE)
Fusion of Simultaneously Learned Features from Complementary Representations for Semantic Segmentation of Top-View Grid Maps
Bieder, F.; Link, M.; Romanski, S.; Hu, H.; Stiller, C.
2021. Proc. International Conference on Information Fusion (FUSION), IEEEXplore
PillarSegNet: Pillar-based Semantic Grid Map Estimation using Sparse LiDAR Data
Fei, J.; Peng, K.; Heidenreich, P.; Bieder, F.; Stiller, C.
2021. IEEE Intelligent Vehicles Symposium (IV): 11-17 July 2021, online, 838–844, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IV48863.2021.9575694
Fusion of sequential LiDAR measurements for semantic segmentation of multi-layer grid maps
Bieder, F.; Wirges, S.; Richter, S.; Stiller, C.
2021. Technisches Messen, 88 (6), 352–360. doi:10.1515/teme-2021-0026
Fusion of Sequential Information for Semantic Grid Map Estimation
Bieder, F.; Rehman, M. U.; Stiller, C.
2020. Forum Bildverarbeitung 2020. Ed.: T. Längle ; M. Heizmann, 79–89, KIT Scientific Publishing
Exploiting Multi-Layer Grid Maps for Surround-View Semantic Segmentation of Sparse LiDAR Data
Bieder, F.; Wirges, S.; Janosovits, J.; Richter, S.; Wang, Z.; Stiller, C.
2020. 2020 IEEE Intelligent Vehicles Symposium (IV), 19 October - 13 November 2020, online, 1892–1898, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IV47402.2020.9304848