M.Sc. Frank Bieder

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

Forschung

Ich forsche an der Schnittstelle von Maschinellem Lernen, Robotik und Computer Vision, mit einem Fokus auf skalierbare Trainingsdatengenerierung, Cross-Sensor Domain Adaptation und End-to-End-Systeme im Realversuch. Beispiele meiner aktuellen Forschung sind:

Learning from Maps: Skalierbare Ground-Truth-Generierung für autonomes Fahren mithilfe von HD-Karten und Mehrfachbefahrungen
Cross-Sensor Domain Adaptation für Embodied AI Systeme
Skalierung von End-to-End-Stacks für die Anwendung in Real-World-Szenarien

Lehre

Dozent für Probabilistische Messtechnik und Estimation in SS23.
Übungsleiter für Probabilistische Messtechnik und Estimation in SS20, WS20/21, SS21, WS21/22, SS22 und WS22/23.
Aufgabensteller für Mess- und Regelungssysteme in SS19, WS19/20, SS20, SS21, WS21/22 und WS22/23.
Übungsleiter für diverse Laborpraktika in WS19/20, WS20/21 und WS21/22.

Akademische Dienste

Reviewer für
- CVF Winter Conference on Applications of Computer Vision (WACV)
- IEEE Intelligent Vehicles Symposium (IV)
- IEEE Intelligent Transportation Systems Magazine (ITS-M)
- IEEE International Conference on Robotics and Automation (ICRA)
- IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- IEEE Robotics and Automation Letters (RA-L)
- Springer International Journal of Computer Vision (IJCV)
Chair des FMAD-Workshops Foundation Models for Autonomous Driving im Rahmen der IEEE International Conference on Intelligent Transportation Systems (ITSC) 2024 in Edmonton, Kanada, sowie 2025 an der Gold Coast, Australien
Chair des MB2ML-Workshops Bridging the Gap between Map-Based and Map-Less Driving beim IEEE Intelligent Vehicles Symposium (IV) 2022 in Aachen, Deutschland, und 2023 in Anchorage, USA; zudem Co-Organizer der MB2ML-Workshops 2025 und 2026
Chair einer Special Session zu Real-Time Critical Perception Tasks in the Context of Automated Driving auf der FUSION 2021 in Sun City, Südafrika, sowie der FUSION 2022 in Linköping, Schweden

Abgeschlossene Bachelor-, Diplom-, Master- und Studienarbeiten

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

Veröffentlichungen

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