Teaching

• Machine Vision
• Automotive Vision
• Kognitive Automobile Labor

Current Research Projects

• Environment Perception to assist the Visually Impaired
• Eddy-Current-Sensor based non-contact speed measurement for rail vehicles

Completed Research Projects

• Galileo Localization for Railway Operation Innovation (GaLoROI)
• Video-Based Detection and Classification of Tracks and Turnouts
• Map-Assisted Localization in Structured Environments
• Probabilistic train localization in topological maps

Publications

Raphael van Kempen, Bastian Lampe, Marc Leuffen, Lena Wirtz, Fabian Thomsen, Gergely Bilkei-Gorzo, Jean-Pierre Busch, Ida Feger, Christian Geller, Christian Kehl, Olaf Uszynski, Lotte Wagner-Douglas, Lukas Zanger, Lutz Eckstein, David Philipp Klüner, Julius Beerwerth, Bassam Alrifaee, Stefan Kowalewski, Marco Konersmann, Felix Steinfurth, Bernhard Rumpe, Max Hartmann, Norbert Siepenkötter, Dieter Moormann, Boris Böhlen, Claudia Hannig, Esther Hekele, Heinrich Gotzig, Paul-David Rostocki, Deepak-Kumar Gautam, Richard Schubert, Niklas Braun, Markus Maurer, Kai-Björn Gemlau, Sebastian Abel, Rolf Ernst, Melina Lutwitzi, Lorenz Bayerlein, Moritz Berghöfer, Alexander Blødel, Björn Klamann, Anton Kuznietsov, Steven Peters, Stefan Leinen, Jakob Bahle, Lars Ullrich, Knut Graichen, Timo Woopen, Dominik Spychalski, Christoph Krauß, Mohamad Alayan, Jens Giesler, Martin Lilienthal, Thomas Schulik, Martin Lauer, Carlos Fernandez, Eduardo Molinos, Nick Le Large, Nils Rack, Marlon Steiner, Kaiwen Wang, Christoph Stiller, Gideon Arndt, Benedikt Schulz, Kai Furmans, Stephan Rauber, Frank Diermeyer, David Brecht, Nils Gehrke, Markus Lienkamp, Walter Zimmer, Christian Creß, Xingcheng Zhou, Alois Knoll, Dominik Püllen, Stefan Katzenbeisser, Arlinda Elmazi, Andreas Sailer, Martin Alfranseder, Ralph Mader, Felix Berkel, Thomas Specker, Philip Mayer, Hermann von Hasseln, Lukas Jung, Marcel Grandinetti, Dominik Neidhart, Dan Greiner, Dennis Niedballa, Dorsa Zaheri, Jonas Maier, Hans-Christian Reuss, Valentyna Afanasenko, Oleksandr Solomakha, Swapnil Sunil Roge, Ingmar Kallfass, Michael Buchholz, Robin Dehler, Matti Henning, Charlotte Hermann, Markus Schön, Klaus Dietmayer. AUTOtech.agil: Architecture and Technologies for Orchestrating Automotive Agility. In 32nd Aachen Colloquium Sustainable Mobility, Aachen, Germany, Oct 2023. Aachener Kolloquium Fahrzeug- und Motorentechnik GbR. Zweitveröffentlicht auf dem Publikationsserver der RWTH Aachen University. [ DOI | http ]

Marvin Klemp, Kevin Rösch, Royden Wagner, Jannik Quehl, Martin Lauer. LDFA: Latent Diffusion Face Anonymization for Self-driving Applications. In Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, Seiten 3198--3204, 2023. [ DOI ]

Danial Kamran, Thiago D. Simão, Qisong Yang, Canmanie T. Ponnambalam, Johannes Fischer, Matthijs T.J. Spaan, Martin Lauer. A Modern Perspective on Safe Automated Driving for Different Traffic Dynamics Using Constrained Reinforcement Learning. In 2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC), Seiten 4017--4023, Macau, China, October 2022. [ DOI ]

Christian Kinzig, Irene Cortés, Carlos Fernández, Martin Lauer. Real-time Seamless Image Stitching in Autonomous Driving. In 2022 25th International Conference on Information Fusion (FUSION), Seiten 1--8, Linköping, Schweden, July 2022. [ DOI ]

Jan-Hendrik Pauls, Richard Fehler, Martin Lauer, Christoph Stiller. Combining 2D and 3D Datasets with Object-Conditioned Depth Estimation. In 2022 IEEE Intelligent Vehicles Symposium (IV), Seiten 1194--1200, 2022. [ DOI ]

Christian Kinzig, Markus Horn, Martin Lauer, Michael Buchholz, Christoph Stiller, Klaus Dietmayer. Automatic multimodal sensor calibration of the UNICARagil vehicles. tm - Technisches Messen, 89(4):289--299, 2022. [ DOI | http ]

Johannes Fischer, Christoph Eyberg, Moritz Werling, Martin Lauer. Sampling-Based Inverse Reinforcement Learning Algorithms with Safety Constraints. In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Seiten 791--798, September 2021. [ DOI ]

Danial Kamran, Yu Ren, Maximilian Naumann, Martin Lauer. High-level Decisions from a Safe Maneuver Catalog with Reinforcement Learning for Safe and Cooperative Automated Merging. In IEEE International Intelligent Transportation Systems Conference (ITSC), Indianapolis, IN, United States, September 2021. accepted.

Haohao Hu, Fabian Immel, Johannes Janosovits, Martin Lauer, Christoph Stiller. A Cuboid Detection and Tracking System using A Multi RGBD Camera Setup for Intelligent Manipulation and Logistics. In IEEE 17th International Conference on Automation Science and Engineering (CASE), Lyon, France, August 2021. [ http ]

Ömer Sahin Tas, Felix Hauser, Martin Lauer. Efficient Sampling in POMDPs for Motion Planning Using Multi-armed Bandits in Continuous Spaces. In Proc. IEEE Intell. Veh. Symp., Nagoya, Japan, July 2021. [ .pdf ]

Haohao Hu, Lukas Sackewitz, Martin Lauer. Joint Learning of Feature Detector and Descriptor for Visual SLAM. In IEEE Intelligent Vehicles Symposium (IV), Nagoya, Japan, July 2021. accepted.

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.

Piotr F. Orzechowski, Christoph Burger, Martin Lauer, Christoph Stiller. Verhaltensentscheidung für automatisierte Fahrzeuge mittels Arbitrationsgraphen. at - Automatisierungstechnik, 69(2), February 2021. [ DOI ]

Haohao Hu, Johannes Beck, Martin Lauer, Christoph Stiller. Continuous Fusion of Motion Data Using an Axis-Angle Rotation Representation with Uniform B-Spline. Sensors, 21(15), 2021. [ DOI | http ]

Haohao Hu, Johannes Beck, Martin Lauer, Christoph Stiller. Continuous Fusion of IMU and Pose Data using Uniform B-Spline. In International Conference on Multisensor Fusion and Integration (MFI), Karlsruhe, Germany, September 2020. [ http ]

Haohao Hu, Aoran Wang, Marc Sons, Martin Lauer. ViPNet: An End-to-End 6D Visual Camera Pose Regression Network. In Proc. IEEE International Conference on Intelligent Transportation Systems (ITSC), Rhodes, Greece, September 2020. [ http ]

Annika Meyer, Jonas Walter, Martin Lauer. Fahrstreifengenaue Kreuzungsschätzung anhand der Fahrtverläufe anderer Verkehrsteilnehmer. In 13. Workshop Fahrerassistenz und automatisiertes Fahren (FAS), July 2020. [ .pdf ]

Christoph Burger, Thomas Schneider, Martin Lauer. Interaction aware cooperative trajectory planning for lane change maneuvers in dense traffic. In 2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC), Seiten 1--8, 2020. [ DOI ]

Bernd Kröper, Martin Lauer, Max Spindler. Using the Ferromagnetic Fingerprint of Rails for Velocity Estimation and absolute Localization of Railway Vehicles. In 2020 European Navigation Conference (ENC), Seiten 1--10, Dresden, Germany, 2020. [ DOI ]

Jan-Hendrik Pauls, Tobias Strauss, Carsten Hasberg, Martin Lauer, Christoph Stiller. HD Map Verification Without Accurate Localization Prior Using Spatio-Semantic 1D Signals. In 2020 IEEE Intelligent Vehicles Symposium (IV), Seiten 680--686, 2020. [ DOI ]

Piotr F. Orzechowski, Christoph Burger, Martin Lauer. Decision-Making for Automated Vehicles Using a Hierarchical Behavior-Based Arbitration Scheme. In 2020 IEEE Intelligent Vehicles Symposium (IV), Seiten 767--774, Oct 2020. [ DOI ]

Annika Meyer, Jonas Walter, Martin Lauer. Fast Lane-Level Intersection Estimation using Markov Chain Monte Carlo Sampling and B-Spline Refinement. In 2020 IEEE Intelligent Vehicles Symposium (IV), Oct 2020. [ http ]

Danial Kamran, Martin Lauer, Christoph Stiller. Learning Realistic High Level Decisions for Autonomous Driving at Complex Intersections. In 13. Uni-DAS e.V. Workshop Fahrerassistenz und automatisiertes Fahren, Walting, Germany, 2020. [ .pdf ]

Danial Kamran, Carlos Fernandez Lopez, Martin Lauer, Christoph Stiller. Risk-Aware High-level Decisions for Automated Driving at Occluded Intersections with Reinforcement Learning. In IEEE Intelligent Vehicles Symposium, Las Vegas, USA, 2020. [ http ]

Michael Buchholz, Fabian Gies, Andreas Danzer, Matti Henning, Charlotte Hermann, Manuel Herzog, Markus Horn, Markus Schön, Nils Rexin, Klaus Dietmayer, Carlos Fernandez, Johannes Janosovits, Danial Kamran, Christian Kinzig, Martin Lauer, Eduardo Molinos, Christoph Stiller, Lingguang Wang, Stefan Ackermann, Tobias Homolla, Hermann Winner, Grischa Gottschalg, Stefan Leinen, Matthias Becker, Johannes Feiler, Simon Hoffmann, Frank Diermeyer, Bastian Lampe, Till Beemelmanns, Raphael van Kempen, Timo Woopen, Lutz Eckstein, Nicolai Voget, Dieter Moormann, Inga Jatzkowski, Torben Stolte, Markus Maurer, Jürgen Graf, Edgar von Hinüber, Norbert Siepenkötter. Automation of the UNICARagil vehicles. In 29th Aachen Colloquium Sustainable Mobility, Band 2, Seiten 1531--1560, 2020.

Annika Meyer, Jonas Walter, Martin Lauer, Christoph Stiller. Anytime Lane-Level Intersection Estimation Based on Trajectories of Other Traffic Participants. In 2019 22nd International Conference on Intelligent Transportation Systems (ITSC), October 2019. [ http ]

Haohao Hu, Junyi Zhu, Sascha Wirges, Martin Lauer. Localization in Aerial Imagery with Grid Maps using LocGAN. In Proc. IEEE International Conference on Intelligent Transportation Systems (ITSC), Auckland, New Zealand, October 2019. [ http ]

Wei Tian, Niels Ole Salscheider, Yunxiao Shan, Long Chen, Martin Lauer. A Collaborative Visual Tracking Architecture for Correlation Filter and Convolutional Neural Network Learning. IEEE Transactions on Intelligent Transportation Systems, Seiten 1--13, July 2019. [ DOI ]

Maximilian Naumann, Hendrik Königshof, Martin Lauer, Christoph Stiller. Safe but not Overcautious Motion Planning under Occlusions and Limited Sensor Range . In Proc. IEEE Int. Conf. Intelligent Vehicles, Paris, France, June 2019. [ DOI | .pdf ]

Sascha Wirges, Marcel Reith-Braun, Martin Lauer, Christoph Stiller. Capturing Object Detection Uncertainty in Multi-Layer Grid Maps. In Intelligent Vehicles Symposium (IV), Paris, France, June 2019. [ DOI | http ]

Piotr F. Orzechowski, Kun Li, Martin Lauer. Towards Responsibility-Sensitive Safety of Automated Vehicles with Reachable Set Analysis. In 2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE), Nov 2019.

Jannik Quehl, Shengchao Yan, Sascha Wirges, Jan-Hendrik Pauls, Martin Lauer. Estimating Object Shape and Movement Using Local Occupancy Grid Maps. IFAC-PapersOnLine, 52(8):87 -- 92, 2019. 10th IFAC Symposium on Intelligent Autonomous Vehicles IAV 2019. [ DOI | http ]

Wei Tian, Martin Lauer, Long Chen. Online Multi-Object Tracking Using Joint Domain Information in Traffic Scenarios. IEEE Transactions on Intelligent Transportation Systems, Seiten 1--11, Jan. 2019. [ DOI ]

Martin Lauer, Ömer Sahin Tas. Machbarkeitsstudie zum automatisierten Fahren von HO-LKWs im Murgtal. Technical report, FZI Forschungszentrum Informatik, 12 2019. [ DOI | http ]

Dan Keilhoff, Dennis Niedballa, Hans-Christian Reuss, Michael Buchholz, Fabian Gies, Klaus Dietmayer, Martin Lauer, Christoph Stiller, Stefan Ackermann, Hermann Winner, Alexandru Kampmann, Bassam Alrifaee, Stefan Kowalewski, Fabian Klein, Michael Struth, Timo Woopen, Lutz Eckstein. UNICARagil--New architectures for disruptive vehicle concepts. In 19. Internationales Stuttgarter Symposium, Seiten 820--842. Springer Vieweg, 2019.

Julius Kümmerle, Marc Sons, Fabian Poggenhans, Tilman Kühner, Martin Lauer, Christoph Stiller. Accurate and Efficient Self-Localization on Roads using Basic Geometric Primitives. In IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019. [ .pdf ]

Tilman Kühner, Sascha Wirges, Martin Lauer. Automatic Generation of Training Data for Image Classification of Road Scenes. In IEEE International Conference on Intelligent Transportation Systems (ITSC), Auckland, New Zealand, 2019.

Danial Kamran, Junyi Zhu, Martin Lauer. Learning Path Tracking for Real Car-like Mobile Robots From Simulation. In IEEE European Conference on Mobile Robots (ECMR), 2019. [ .pdf ]

Ziming Guo, Baigen Cai, Wei Jiang, Martin Lauer. Frog and Blade Based Branching Direction Detection in LiDAR Data. In 2019 IEEE Intelligent Transportation Systems Conference (ITSC), Seiten 2687--2692. IEEE, 2019.

Jan-Hendrik Pauls, Tobias Strauss, Carsten Hasberg, Martin Lauer, Christoph Stiller. Can We Trust Our Maps? An Evaluation of Road Changes and a Dataset for Map Validation. In Proc. IEEE Intell. Trans. Syst. Conf., Seiten 2639--2644, Hawaii, USA, November 2018. [ DOI ]

Wei Tian, Martin Lauer. Tracking Objects with Severe Occlusion by Adaptive Part Filter Modeling - In Traffic Scenes and Beyond. IEEE Intelligent Transportation Systems Magazine, Seiten 1--1, October 2018. [ DOI ]

Julius Kümmerle, Tilman Kühner, Martin Lauer. Automatic Calibration of Multiple Cameras and Depth Sensors with a Spherical Target. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 2018. [ .pdf ]

Jannik Quehl, Haohao Hu, Sascha Wirges, Martin Lauer. An Approach to Vehicle Trajectory Prediction Using Automatically Generated Traffic Maps. In Proc. IEEE Int. Conf. Intelligent Vehicles, June 2018. [ http ]

Maximilian Naumann, Fabian Poggenhans, Martin Lauer, Christoph Stiller. CoInCar-Sim: An Open-Source Simulation Framework for Cooperatively Interacting Automobiles. In Proc. IEEE Int. Conf. Intelligent Vehicles, Seiten 1879--1884, Changshu, China, June 2018. [ DOI | .pdf ]

Eike Rehder, Florian Wirth, Martin Lauer, Christoph Stiller. Pedestrian prediction by planning using deep neural networks. In Proc. IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018. [ DOI | http ]

Niels Ole Salscheider, Martin Lauer. Instance Segmentation by Learning Pixel Neighbour Relations with a CNN. In 2018 21st International Conference on Intelligent Transportation Systems (ITSC), Seiten 3463--3468. IEEE, 2018.

Piotr F Orzechowski, Annika Meyer, Martin Lauer. Tackling Occlusions & Limited Sensor Range with Set-based Safety Verification. In 2018 21st International Conference on Intelligent Transportation Systems (ITSC), Seiten 1729--1736, Nov 2018. [ DOI ]

Maximilian Naumann, Martin Lauer, Christoph Stiller. Generating Comfortable, Safe and Comprehensible Trajectories for Automated Vehicles in Mixed Traffic. In Proc. IEEE Intl. Conf. Intelligent Transportation Systems, Seiten 575--582, Hawaii, USA, Nov 2018. [ DOI | http ]

Christoph Burger, Martin Lauer. Cooperative Multiple Vehicle Trajectory Planning using MIQP. In 2018 21st International Conference on Intelligent Transportation Systems (ITSC), Seiten 602--607, Nov 2018.

Pengfei Zhu, Longyin Wen, Dawei Du, Xiao Bian, Haibin Ling, Qinghua Hu, Hao Cheng, Chengfeng Liu, Xiaoyu Liu, Wenya Ma, Qinqin Nie, Haotian Wu, Lianjie Wang, Arne Schumann, Dan Wang, Diego Ortego, Elena Luna, Emmanouil Michail, Erik Bochinski, Feng Ni, Filiz Bunyak, Gege Zhang, Guna Seetharaman, Guorong Li, Hongyang Yu, Ioannis Kompatsiaris, Jianfei Zhao, Jie Gao, Jose Martinez, Juan Miguel, Kannappan Palaniappan, Konstantinos Avgerinakis, Lars Sommer, Martin Lauer, Mengkun Liu, Noor Al-Shakarji, Oliver Acatay, Panagiotis Giannakeris, Qijie Zhao, Qinghua Ma, Qingming Huang, Stefanos Vrochidis, Thomas Sikora, Tobias Senst, Wei Song, Wei Tian, Wenhua Zhang, Yanyun Zhao, Yidong Bai, Yinan Wu, Yongtao Wang, Yuxuan Li, Zhaoliang Pi, Zhiming Ma. VisDrone-VDT2018: The Vision Meets Drone Video Detection and Tracking Challenge Results. In European Conference on Computer Vision Workshop (Award: Multi-object tracking challenge winner), 2018. [ DOI ]

Longyin Wen, Pengfei Zhu, Dawei Du, Xiao Bian, Haibin Ling, Qinghua Hu, Chenfeng Liu, Hao Cheng, Xiaoyu Liu, Wenya Ma, Qinqin Nie, Haotian Wu, Lianjie Wang, Asanka G Perera, Baochang Zhang, Byeongho Heo, Chunlei Liu, Dongdong Li, Emmanouil Michail, Hanlin Chen, Hao Liu, Haojie Li, Ioannis Kompatsiaris, Jian Cheng, Jiaqing Fan, Jie Zhang, Jin Young Choi, Jing Li, Jinyu Yang, Jongwon Choi, Juanping Zhao, Jungong Han, Kaihua Zhang, Kaiwen Duan, Ke Song, Konstantinos Avgerinakis, Kyuewang Lee, Lu Ding, Martin Lauer, Panagiotis Giannakeris, Peizhen Zhang, Qiang Wang, Qianqian Xu, Qingming Huang, Qingshan Liu, Robert Laganiere, Ruixin Zhang, Sangdoo Yun, Shengyin Zhu, Sihang Wu, Stefanos Vrochidis, Wei Tian, Wei Zhang, Weidong Chen, Weiming Hu, Wenhao Wang, Wenhua Zhang, Wenrui Ding, Xiaohao He, Xiaotong Li, Xin Zhang, Xinbin Luo, Xixi Hu, Yang Meng, Yangliu Kuai, Yanyun Zhao, Yaxuan Li, Yifan Yang, Yifan Zhang, Yong Wang, Yuankai Qi, Zhipeng Deng, Zhiqun He. VisDrone-SOT2018: The Vision Meets Drone Single-Object Tracking Challenge Results. In European Conference on Computer Vision Workshop, 2018. [ DOI ]

Johannes Graeter, Alexander Wilczynski, Martin Lauer. LIMO: Lidar-Monocular Visual Odometry. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Seiten 7872--7879. IEEE, 2018. [ .pdf ]

Max Spindler, Martin Lauer. High Accuracy Estimation of Velocity and Position for Railway Vehicles using Ferromagnetic Inhomogeneities. In 21st International Conference on Intelligent Transportation Systems (ITSC), Seiten 1202--1207, 2018. [ DOI | http ]

D. Ridel, E. Rehder, M. Lauer, C. Stiller, D. Wolf. A Literature Review on the Prediction of Pedestrian Behavior in Urban Scenarios. In 2018 21st International Conference on Intelligent Transportation Systems (ITSC), Seiten 3105--3112, Nov 2018. [ DOI ]

Wei Tian, Long Chen, Ke Zou, Martin Lauer. Vehicle Tracking at Nighttime by Kernelized Experts With Channel-Wise and Temporal Reliability Estimation. IEEE Transactions on Intelligent Transportation Systems, vol. PP, no. 99, pp. 1-11, December 2017. [ DOI | http ]

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. [ http ]

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.

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) (Award: T4S challenge winner in experienced tracking level), August 2017. [ DOI | http ]

Sascha Wirges, Björn Roxin, Eike Rehder, Tilman Kühner, Martin Lauer. Guided Depth Upsampling for Precise Mapping of Urban Environments. In Intelligent Vehicles Symposium (IV), Redondo Beach, USA, June 2017. [ DOI | http ]

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. [ DOI | http ]

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 ]

Eike Rehder, Christian Kinzig, Philipp Bender, Martin Lauer. Online Stereo Camera Calibration From Scratch. 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. [ DOI | .pdf ]

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 ]

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

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., Seiten 17--26, 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 ]

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 ]

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 ]

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 ]

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 ]

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 ]

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 ]

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 ]

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 ]

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 ]

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 ]

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 ]

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 ]

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 ]

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.

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 ]

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 ]

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 ]

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 ]

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 ]

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 ]

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.

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 ]

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 ]

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, 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.

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.

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, 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.

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.

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.

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

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 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. Motion Estimation of Moving Objects for Autonomous Mobile Robots. Band 20, Seiten 11--17, 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. Ego-Motion Estimation and Collision Detection for Omnidirectional Robots. In RoboCup 2006: Robot Soccer World Cup X, 2006.

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

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.

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

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