Supervised Theses

If you are interested in carrying our Bachelor, Master or Doctoral research, please contact Prof. Andreas Nüchter.

PhD Theses

2023

• Michael Bleier. Underwater Laser Scanning - Refractive Calibration, Self-calibration and Mapping for 3D Reconstruction. Final exam: March 27, 2023. [Get thesis] [PDF]
   
• Jan Wagner. Maximalnetzplan zur reaktiven Steuerung von Produktionsabläufen. Final exam: January 26, 2023.  [Get thesis] [PDF] 

2020

• Johannes Schauer. Detecting Changes and Finding Collisions in 3D Point Clouds - Data Structures and Algorithms for Post-Processing Large Datasets. Final exam: September 25, 2020.  [Get thesis] [PDF] [more information]

2018

• Christian Pfitzner. Visual Human Body Weight Estimation with Focus on Medical Applications. Final exam: December 20, 2018.  [Get thesis] [PDF]
   
• Rainer Koch. Sensor Fusion for Precise Mapping of Transparent and Specular Reflective Objects. Final exam: May 16, 2018.  [Get thesis] [PDF] 
  • Rainer was the first gratuate of BayWISS.
     

2017

• Dorit Borrmann. Multi-modal 3D mapping - Combining 3D point clouds with thermal and color information. Final exam: December 1, 2017 (summa cum laude). [Get thesis] [PDF]
  • Dorit has won the PhD award of the commemorative year foundation of Lower Franconia (Dissertationspreis der unterfränkischen Gedenkjahresstiftung).
  • The thesis was shortlisted for the dissertation award of the GI (Dissertationspreis der Gesellschaft für Informatik e.V.)
  • Dorit won the cultural award of the Bayernwerk.
  • Dorit got the Zonta award for science.
• HamidReza Houshiar. Documentation and mapping with 3D point cloud processing. Final exam: January 27, 2017. [Get thesis] [PDF]
   

2013

• Jan Elseberg. Improving Point Cloud Quality for Mobile Laser Scanning. Final exam: September 13, 2013. [Get thesis] [PDF]
  
   

Master and Bachelor Theses

2023

• ...
   
• Tim Lakemann. An enhanced Onboard motion tracking system for Optical Relative Localization of UAVs with Acitve Markers, August 2023.
   
• Max Gmöhling. Non-invasive identification of lunar rock types utilizing multiple single-wavelength filters. August 2023.'
   
• Paul Heinisch. Correcting LiDAR Motion Distortion - The predominant Influence of Angular Velocity on Spherical Robots. July 2023.
   
• Sofie Köhl. Non-invasive discrimination of lunar rock types utilizing three laser scanners at different wavelengths. June 2023. [PDF]
   
• Joschua Braun. Angle Control Methods for Telescopic Linear Driven Rotation Robots using the Virtual Pose Instruction Plane, June 2023.
   
• Bence Bartho. A Quantitative Evaluation of Feature Matching Algorithms for CubeSats, March 2023.
   
• Karina Kopp. Longitudinal Modelling using 2D Brain Magnetic Resonance Imaging Data, March 2023.
  This thesis was written at ETH Zürich.
   
• Martin Hesse. Different Virtual Pose Instruction Plane control strategies for uniform linear motion on Telescopic Linear Driven Rotation Robots. March 2023 [PDF]
   
• Janis Kaltenthaler. IMU calibration and scale estimation improvement of existing VIO methods. February 2023. [PDF]
   
• Jonas Schmitt. 3D-Pfad- und Trajektorienplanung für UAVs für den Außenbereich. February 2023.
  This thesis was written at the Zentrum für Telematik e.V.
   
• Lennart Werner. Terrain mapping for autonomous navigation of lunar rovers. M.Sc. Satellite Technology. January 2023.
  This thesis was written at NASA JPL (Caltech).
   
• Carolin Bösch. Evaluation of Quantity and Positioning of Inertial Measurement Units for different Spherical Robot Types regarding the Orientation Determination. B.Sc. Luft- und Raumfahrtinformatik, January 2023. [PDF]
   
• Luca Anteunis. Multi-Sensor Kalibrierung. M.Sc. Computer Science, January 2023.

 

2022

• Fabian Wiecha. Testing and Evaluation of Inertial Trajectory Estimation Methods for 3D scanning and mapping purposes on a Spherical System. B.Sc. Luft- und Raumfahrtinformatik, December 2022.
   
• Moritz Schauerte. Bestimmung von Translationsparametern im Rahmen der extrinsischen Kalibrierung eines dezentrierten LiDAR in einem sphärischen Mapping-System unter Verwendung von ICP und GraphSLAM. B.Sc. Luft- und Raumfahrtinformatik, Oktober 2022.
   
• Timo Burger. Machbarkeitsnachweis über die Umsetzung eines rollenden Laserscanners mit minimalem Einsatz von Sensorik zur dreidimensionalen Kartografierung von Innenräumen. M.Sc. Computer Science, October 2022.
   
• Jonas Hoefer. Tree Recognition in Bing Maps Aerial and Satellite Imagery with a Convolutional Neural Network, M.Sc. Satellite Technology, September 2022. 
  This thesis was written at DLR (Oberpfaffenhofen, Germany).
   
• Sven Kunze. Realtime point cloud streaming and visualization in Virtual Reality for remote operation of a mobile robot, [PDF], B.Sc. Luft- und Raumfahrtinformatik, June 2022.
   
• Kevin Jonscher, Automatisierte extrinsische Kalibrierung von drei 3D-Kameras und einer 2D-Kamera in einer bestehenden Intralogistikkomponente über ein Kalibriermuster. M.Sc. Informatik, April 2022. This thesis was jointly supervised with SSI SCHÄFER.
   
• David Baldsiefen. Implementation and evaluation of object detection using neural networks for use in an automated optical rocket tracking system. [PDF],  B.Sc. Luft- und Raumfahrtinformatik, March 2022.
   
• Felix Auinger, 3D Scanning für 3D Druck auf nicht flachen Oberflächen. [PDF], B.Sc. Luft- und Raumfahrtinformatik, March 2022.
   
• Anton Bredenbeck. SatSim-REACSA - A Floating Platform for Simulation of Micro-Gravity With Three Degree of Freedom : Finding and Following Optimal Trajectories With an Overactuated System. [PDF], M.Sc. Satellite Technology, February 2022.
  Corresponding publications:
  Bredenbeck, A., Vyas, S., Suter, W., Zwick, M., Borrmann, D., Olivares-Mendez, M., Nüchter, A.: Finding and Following Optimal Trajectories for an Overactuated Floating Robotic Platform. 16th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA ’22). ESA, Noordwijk, Netherlands (2022).
  Bredenbeck, A., Vyas, S., Zwick, M., Borrmann, D., Olivares-Mendez, M., Nüchter, A.: Trajectory Optimization and Following for a Three Degrees of Freedom Overactuated Floating Platform. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS ’22). , Kyoto, Japan (2022).

2021

• Darius Deubert, Autonome Navigation auf Basis eines visuellen SLAM-Systems, [PDF], M.Sc. Computer Science, December 2021.
   
• Jan Richter, Erweiterte Verfeinerung der Detektierung von AprilTags für hochpräzise Andockmanöver von mobilen Robotern, [PDF], M.Sc. Computer Science, November 2021. Jan continued working for the Zentrum für Telematik e.V. for further joint research.
  Corresponding publication:
  Richter, J., Bohlig, D., Nüchter, A., Schilling, K.: Advanced Edge Detection of AprilTags for Precise Docking Maneuvers of Mobile Robots. Proceedings of the 6th IFAC Symposium on Telematics Applications (TA ’22). , Nancy, France (2022).
• Tobias Wahl, Evaluation of a toolchain for processing 3D pointclouds as meshes in RaLaNS, M.Sc. Computer Science, September 2021.
   
• Jasper Zevering, TLDR Robot Telescopic Linear Driven Rotation Robot - A Locomotion Approach for Spherical Robots, [PDF], M.Sc. Satellite Technology, September 2021. Jasper stayed in my lab as PhD student.
   
• Fabian Arzberger, An optimized polygon based SLAM algorithm for mobile mapping using efficient planar clustering and enhanced 6D gradient descent, [PDF], M.Sc. Satellite Technology, September 2021. Fabi stayed in my lab as PhD student.
  Corresponding publication:
  Arzberger, F., Bredenbeck, A., Zevering, J., Borrmann, D., Nüchter, A.: Towards spherical robots for mobile mapping in human made environments. ISPRS Open Journal of Photogrammetry and Remote Sensing (OJPRS). 1, 100004 (2021).
   
• Tim Appelt. Kalibrierung und Validierung der T265 für Lokalisierung und Verfolgung unter Wasser. M.Sc. Computer Science, September 2021.
  Corresponding publication:
  Appelt, T., van der Lucht, J., Bleier, M., Nüchter, A.: CALIBRATION AND VALIDATION OF THE INTEL T265 FOR VISUAL LOCALISATION AND TRACKING UNDERWATER. Proceedings of the ISPRS Congress 2021. pp. 635–641. , Nice, France (2021).
   
• Michael Derleth, Evaluierung verschiedener Kameramodelle zur horizontbasierten Färbung von 3D-Punktwolken mithilfe von Fish-Eye Objektiven. [PDF], M.Sc. Computer Science, University of Würzburg, April 2021. Michel joined the company Schneider Electric.
   
• Marvin Haller, 3D Shape Reconstruction of Microscopic Surfaces using Photometric Stereo Methods. M.Sc. Computer Science, University of Würzburg, February 2021. Marvin works now for the company innowep.
   
• Sarah Menninger, Entwicklung einer randomisierten Hough-Transformation zur Zylinderdetektion in Laserscans. [PDF], M.Sc. Computer Science, University of Würzburg, January 2021. Sarah stayed in my lab for further joint research.

2020

• Michael Neumann, Semantic Classification in Uncolored 3D Point Clouds using Multiscale Features [PDF], M.Sc. Computer Science, University of Würzburg, May 2020. Michael joined the company Garmin.
   
• David Redondo. Registration and iterative scale estimation of differently scaled point clouds [PDF], M.Sc. Computer Science, University of Würzburg, May 2020. After completing his thesis David joined the company Blue Systems GmbH.

2019

• David Bohlig. Localization and Calibration of Mobile Robotic Systems using Monocular Cameras and Visual Marker Structures. M.Sc. Informatik, University of Würzburg, submitted December 2019. David continued working for the Zentrum für Telematik e.V. for further related research.
   
• Jan von Pichowski. Entwicklung einer Methodik zur Klassifikation von Lagergetreide durch LiDAR- und Kameradaten. B.Sc. Luft- und Raumfhartinformatik. Oktober 2019. Jan started to study Satellite Technology in the Elite Network of Bavaria (ENB).
   
• Kevin Schmauß. Rangierhilfe für Kleinflugzeuge. B.Sc. Luft- und Raumfhartinformatik. Oktober 2019. 
   
• Jonas Hoefer. Datafusion of Accelerometer and GPS. B.Sc. Luft- und Raumfahrtinformatik. August 2019.
   
• Alexander Zaft. Physikalische Modellierung und Kamerakalibrierung für Unterwasseranwendungen. B.Sc. Computer Science. August 2019.
   
• Janis Nicolas Kaltenthaler. Attitude determination mittels einer inertialen Messeinheit (IMU). B.Sc. Luft- und Raumfahrtinformatik. August 2019. [PDF] Janis started towards a Master's degreen CS here in Würzburg.
   
• Michael Baumgart. Extraktion von Spielertrajektorien und Spielstand aus Tennisvideos. M.Sc. Computer Science. June 2019.
   
• Max Röder. Visuelle Odometrie mit Skalierungskorrektur in 3D-Umgebungen mithilfe von 2D-LIDAR-Scannern. M.Sc. Computer Science. March 2019.
   
• Nicolas Krosta. Untersuchung der Verwendbarkeit einer ASUS Xtion Pro im Außeneinsatz auf einer Drohne zur Erstellung von Punktwolken. B.Sc. Luft- und Raumfahrtinformatik. March 2019. Nicolas continued studying computer science at master level in Würzburg. 
   
• Cameron Reuschel. Influence of density-based clustering algorithms on 3D point clouds. B.Sc. Computer Science, January 2019. Cameron went to local industry after graduation.

2018

• Jonas Ehnle. FencesSLAM: Simultaneous Localization and Mapping using generic polygonal environment models. M.Sc. Space Science and Technology University of Würzburg, December 2018. The thesis has been written in cooperation with the Audi AG.
   
• Rahul Bhandari. Design, Manufacturing and Operating of a low-cost laser scanner mount for unicycle. M.Sc. Space Science and Technology University of Würzburg, April 2018.
   
• Thomas Schmitt. Extending Giovanni Controller with Formation Control Functionality. B.Sc. Luft- und Raumfahrtinformatik, submitted March 2018. [PDF] Thomas went to local industry after graduation.

• Maroš Hladký. Vision Based Attitude Control. M.Sc. Space Science and Technology University of Würzburg and Lulea University of Technology, submitted January 2018. [PDF]
   
• Robin Leblebici. Development of an automated adjusting process for robotic end-effectors to handle dry textiles for performing of carbon fiber reinforced plastics. M.Sc. Space Science and Technology University of Würzburg and Lulea University of Technology, submitted January 2018.
   
• Ilay Simsek. Development of a 3D Future Launcher Architecture Tool. M.Sc. Space Science and Technology University of Würzburg and Lulea University of Technology, submitted January 2018. This thesis was written at the Ariane group and Ilay continued working there.
   

2017

• Ewan Schafer. Stereoscopic Light Curve Analysis of Space Debris Objects. M.Sc. Space Science and Technology. University of Würzburg and Lulea University of Technology, submitted December 2017. [PDF]
   
• Joschka van der Lucht. Korrektur der Brechung an der Wasseroberflche beim triangulationsbasierten 3D Laserscannen. M.Sc. Informatik, University of Würzburg, submitted December 2017. [PDF], Joschka continued working for the Zentrum für Telematik e.V. for further related research.
  Corresponding publication:
  van der Lucht, J., Bleier, M., Leutert, F., Schilling, K., Nüchter, A.: Structured-light based 3D laser scanning of semi-submerged structures. Proceedings of the Technical Commision II Mid-term Symposium "Towards Photogrammetry 2020". p. 287--294. , Riva del Garda, Italy (2018).
  van der Lucht, J., Bleier, M., Leutert, F., Schilling, K., Nüchter, A.: Korrektur der Brechung an der Wasseroberfläche beim triangulationsbasierten 3D-Laserscannen. Photogrammetrie Laserscanning Optische 3D-Messtechnik, Beiträge der Oldenburger 3D-Tage 2018, Jade Hochschule. p. 87--102 (2018).
   
• Johnnes Ankenbrand. Aufbau eines Occupancy Grids mittels Radardaten. M.Sc. Informatik, University of Würzburg. This thesis was written in cooperation with ZF Friedrichshafen AG, submitted November 2017.
   
• Ondrej Cierny. Precision Closed-Loop Laser Pointing System for the Nanosatellite Optical Downlink Experiment. M.Sc. Space Science and Technology. University of Würzburg and Lulea University of Technology, submitted November 2017. [PDF]. This thesis was written at MIT (Prof. Kerri Cahoy).
   
• Daniel Haumann. Programmierung einer dynamischen Geschwindigkeitssteuerung für einen Portalroboter aufgrund peripherer Einflüsse. MSc. Informatik. submitted October 2017.
   
• Kevin Zell. Automatische Generierung von ausführbaren Code für Messanlagen ber eine grafische Oberfläche mittels Metaprogrammierung. MSc. Informatik. submitted October 2017. The thesis was written in cooperation with the Fraunhofer-Center for High Temperature Materials and Design.
   
• Sven Geiger. Neukonzeption einer Steuerungs- und Messsoftware Bibliothek für Thermo-Optische Messanlagen (TOM) mittels modernem C++. MSc. Informatik. submitted October 2017. The thesis was written in cooperation with the Fraunhofer-Center for High Temperature Materials and Design.
   
• Angel Alfredo Martell. Benchmarking structure from motion algorithms with video footage taken from a drone against laser-scanner generated 3D models. M.Sc. Space Science and Technology. University of Würzburg and Lulea University of Technology, submitted October 2017. [PDF]. Angel joined the Zentrum für Telematik e.V. for further work.
   
• Sven Jörissen. 3D Real-time Scanning Using a Projector-based Structured Light System. M.Sc. Space Science and Technology. University of Würzburg and Lulea University of Technology, submitted September 2017. [PDF]. Sven stayed in our lab at University of Würzburg to continue research.
   
• Korbinian Hirschmüller. Development and Evaluation of a 3D Point Cloud Based Attitude Determination System. M.Sc. Space Science and Technology. University of Würzburg and Lulea University of Technology, submitted September 2017.
   
• Norbert L. Rühl. Fenstererkennung in Thermalbildern. B.Sc., Luft- und Raumfahrtinformatik, University of Würzburg, submitted April 2017. Norbert continued studying towards a Bachelor of Science degree.

• Anna Aumann. Distributed Spacecraft 3D Pose and Position Estimation based on Camera Images. M.Sc., Computer Science, University of Würzburg, submitted March 2017. [PDF], Anna changed to the Zentrum für Telematik e.V. for continuing research.

• Matthias Pröstler. Erkennung und Nachverfolgung von Balltrajektorien bei 2D-Fernsehaufnahmen im Tennis. M.Sc., Computer Science, University of Würzburg, submitted March 2017, [PDF].

• Tim Herrmann. Finden von Ebenen in 3D-Punktwolken mithilfe von RANSAC und Hough-Transformation. B.Sc., Computer Science, University of Würzburg, submitted April 2017, [PDF], Tim continued studying towards a Master of Science degree.
   

2016

• Jonathan Vogell. Extraktion und Zuordnung von Bildmerkmalen unter Berücksichtigung von Wetterbedingungen und Tageszeiten. B.Sc., Computer Science, University of Würzburg, submitted December 2016. Jonathan continued studying towards a Master of Science degree.

• Felix Zeltner. Autonomous Terrain Classification Through Unsupervised Learning. M.Sc., Joint European Master in Space Science and Technology, University of Würzburg and Lulea University of Technology, [PDF], [Get Code], submitted November 2016.

• Jochen Barf. Calibration of a Fisheye Lens for Coloring of 3D Laser Data. B.Sc., Computer Science, University of Würzburg, [PDF], submitted Oktober 2016. Jochen finished his SpaceMaster studies afterwards.

• Johannes Barthelmes. Analyse und Optimierung einer effizienten k-d-Baum Implementierung. B.Sc., Computer Science, University of Würzburg, [PDF], submitted Oktober 2016. Johannes started his Master's studies in CS in Würzburg.

• David Redondo. 3D-Scanning vom Multikopter aus. B.Sc., Luft- und Raumfahrtinformatik, University of Würzburg, submitted Oktober 2016. David continued studying Computer Science in Würzburg.

• Helge Andreas Lauterbach. Farbkorrektur von Kamerabildern zur 3D Modellierung. M.Sc. in Computer Science, University of Würzburg, submitted September 2016. Helge stayed in the Robotics and Telematics lab as doctoral student.
  Corresponding publication:
  Helge A. Lauterbach, Dorit Borrmann, and Andreas Nüchter. Towards Radiometrical Alignment of 3D Point Clouds, In Proceedings of the 6th ISPRS International Workshop 3D-ARCH 2017: "3D Virtual Reconstruction and Visualization of Complex Architectures", Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-2/W3, 419-424, Nafplio, Greece, March 2017, [Get Paper], [Get Paper].

• Pascal Keller. A new application for texture mapping using 2D-3D correspondences. M.Sc., Joint European Master in Space Science and Technology, University of Würzburg and Lulea University of Technology, submitted September 2016. This thesis was written at DLR (Augsburg, Germany).

• Silviu Sezar Suteu. OPS-SAT Software Simulator. M.Sc., Joint European Master in Space Science and Technology, University of Würzburg and Lulea University of Technology, submitted September 2016. This thesis was written at ESA, European Space Operations Centre, Human Spaceflight and Operations, Application and Special Project Data Systems (Darmstadt, Germany).

• Oliver Struckmeier. 3D-Scan Akquise mit einem mobilen Roboter und Teach-In. B.Sc., Luft- und Raumfahrtinformatik, University of Würzburg, submitted July 2016. Oliver entered the SpaceMaster program.

  Corresponding publication:
  Oliver Struckmeier, Dorit Borrmann, Andreas Nüchter. Teach-In für die 3D-Scan Akquise mit einem Roboter. in Photogrammetrie Laserscanning Optische 3D-Messtechnik, Beiträge der Oldenburger 3D-Tage 2017, Jade Hochschule, pages 108-119, ISBN 978-3-87907-625-7, Wichmann Verlag, February 2017. [Get Paper].

• Michael Morell. Color Correction of Underwater Images. B.Sc., Computer Science, University of Würzburg, [PDF], submitted June 2016. Michael started his Master's studies in CS in Würzburg.

• Joschka van der Lucht. Robuste Kamerakalibrierung für Unterwasser 3D-Rekonstruktion. B.Sc., Computer Science, University of Würzburg, [PDF], submitted April 2016. Joschka started his Master's studies in CS in Würzburg.

• Julia Funkner. Algorithmen für 3D-Packmuster mit heterogenen Packstücken und Einschränkungen in der Zugriffssequenz. M.Sc., Computer Science, University of Würzburg, submitted March 2016. This thesis was jointly supervised with SSI Schäfer (Giebelstadt, Germany). Julia was hired by InfoSim GmbH & Co. KG.

• Julia Kauer. Entwicklung eines kostengünstigen, mobilen 3D-Unterwasser-Laserscanners. M.Sc., Computer Science, University of Würzburg, submitted March 2016.
   

2015

• Peter Hein. Vehicle Localization Using Visual Detected Traffic Signs and Ego Motion. M.Sc., Joint European Master in Space Science and Technology, University of Würzburg and Lulea University of Technology, submitted October 2015. This thesis was written at Audi Electronics Venture GmbH (Ingolstadt, Germany), an affiliate of AUDI AG.

• Sven Jörissen. Implementierung eines Controllers zur Steuerung eines mobilen Roboters mit virtueller Spurstange. B.Sc. Luft- und Raumfahrtinformatik, submitted September 2015, [PDF], [Addendum]. Sven continued studying in Würzburg in the international SpaceMaster program.

• Florian Haubner. Extraction of garage hypotheses utilizing close-to-production automotive distance sensors M.Sc., Joint European Master in Space Science and Technology, University of Würzburg and Lulea University of Technology, submitted September 2015. This thesis was written at Audi Electronics Venture GmbH (Ingolstadt, Germany), an affiliate of AUDI AG.

• Lakshmi Sravani Atmakuri. 3D Reconstruction of a Geographic Scene by Laser Scanning using a Micro UAV M.Sc., Joint European Master in Space Science and Technology, University of Würzburg and Lulea University of Technology, submitted July 2015.
   

2014

• Korbinian Hirschmüller. Vergleich der Abtastmuster verschiedener 3D-Laserscannersysteme, B.Sc. Luft- und Raumfahrtinformatik, University of Würzburg, submitted September 2014. Korbinian continued studying in Würzburg in the international SpaceMaster program.

• Janis Gailis. Towards 6D SLAM with ground truth integration, M.Sc., Joint European Master in Space Science and Technology, University of Würzburg and Lulea University of Technology, submitted September 2014. Janis accepted a job in Norway after completing his degree.

  Corresponding publication:
  Janis Gailis and Andreas Nüchter. Towards Globally Consistent Scan Matching With Ground Truth Integration, In Proceedings of the ISPRS International Conference on Photogrammetric Image Analysis (PIA '15), Munich, Germany, March 2015.

• Vardan Semerjyan. Miniature Optical Ground Station (MOGS) for Free Space Laser Communication M.Sc., Joint European Master in Space Science and Technology, University of Würzburg and Lulea University of Technology, submitted May 2014. Vardan wrote this thesis with ViaLight Communications GmbH.

• Philipp Käshammer. Spiegel-Identifikation in Laserscans und Korrektur der 3D-Punktwolken B.Sc. Luft- und Raumfahrtinformatik, University of Würzburg, submitted May 2014. Phil continued studying in Würzburg.

  Corresponding publication:
  Phil Käshammer and Andreas Nüchter. Mirror Identification and Correction of 3D Point Clouds, In Proceedings of the 5th ISPRS International Workshop 3D-ARCH 2015: "3D Virtual Reconstruction and Visualization of Complex Architectures", Avila, Spain, February 2015.
   

2013

• Dev Bahadur Poudel. 3D Object Localization in Point Cloud Using Genetic Algorithm M.Sc., Computer Science, Jacobs University Bremen, submitted November 2013.

• Billy Okal. Multi-scale Representation and Recognition of 3D Objects M.Sc., Computer Science, Jacobs University Bremen, submitted June 2013. Billy is now PhD student in Freiburg.

  Corresponding publication:
  Billy Okal and Andreas Nüchter. Sliced Curvature Scale Space for Representing and Recognizing 3D objects, Proceedings of the 16th IEEE International Conference on Advanced Robotics (ICAR '13), Montevideo, Uruguay, November 2013, [Get Paper].

• Girum Demisse. Interpreting Thermal 3D Models of Indoor Environments for Energy Efficiency M.Sc., Computer Science, Jacobs University Bremen, submitted June 2013. Girum became a PhD student in Luxembourg.

  Corresponding publication:
  Girum G. Demisse, Dorit Borrmann, and Andreas Nüchter. Interpreting Thermal 3D Models of Indoor Environments for Energy Efficiency, Proceedings of the 16th IEEE International Conference on Advanced Robotics (ICAR '13), Montevideo, Uruguay, November 2013, [Get Paper].
  Girum Demisse, Dorit Borrmann, and Andreas Nüchter. Interpreting Thermal 3D Models of Indoor Environments for Energy Efficiency. Journal of Intelligent and Robotic Systems, Springer, ISSN 0921-0296, Volume 77, Issue 1, pages 55-72, January 2015, [Get Paper].

• Corina Gurau. Using Sementic Knowledge in 3D Object Classification B.Sc., Computer Science, Jacobs University Bremen, submitted May 2013. Corina continued studying in Oxford.

  Corresponding publication:
  Corina Gurau and Andreas Nüchter. Challenges in Using Semantic Knowledge for 3D Object Classification, in Proceedings of the KI 2013 Workshop on Visual and Spatial Cognition, KIK - KI & Kognition Workshop Series, Koblenz, Germany, September 2013, [Get Paper].

• Johannes Schauer. Solving the Bootstrap Problem for Free and Open Source Binary Distributions M.Sc., Computer Science, Jacobs University Bremen, submitted May 2013, [PDF]. Josch stayed in my lab in Bremen, working on 3DTK - The 3D Toolkit.

  Corresponding publication:
  Pietro Abate and Johannes Schauer. Bootstrapping Software Distributions, In Proceedings of the 16th International ACM Sigsoft Symposium on Component-Based Software EngineeringVancouver, Canada, June 2013. [Get Paper (PDF)].
   

2012

• Faisal Mohammad. Motion Compensated Motion Detection Using 3D Laser Scanner M.Sc., Computer Science, Jacobs University Bremen, submitted August 2012. Faisal works now in Munich as technical consultant at Altran GmbH & Co. KG.

• Iurie Tap. Voxel-based segmentation of 3D point clouds B.Sc., Computer Science, Jacobs University Bremen, submitted May 2012. Iurie continued studying at TU Munich.

• Remus-Claudiu Dumitru. Interior Reconstruction under Occlusion and Clutter, based on the 3D Hough Transform B.Sc., Computer Science, Jacobs University Bremen, submitted May 2012, [PDF]. After a summer at Microsoft, Redmond, Remus returned to Jacobs University Bremen and started his Master's studies.

  Corresponding publication:
  Remus-Claudiu Dumitru, Dorit Borrmann, and Andreas Nüchter. Interior Reconstruction using the 3D Hough Transform, In Proceedings of the 5th ISPRS International Workshop 3D-ARCH 2013: "3D Virtual Reconstruction and Visualization of Complex Architectures", Trento, Italy, February 2013. [Get Paper (PDF)] [Archive Link].

• Vladimir Komsiyski. Fast and Accurate Computation of Surface Normals B.Sc., Computer Science, Jacobs University Bremen, submitted May 2012, [PDF]. Vladimir went for studying at Master's level to Munich.

• Mihai-Cotizo Sima. An extension of Felzenszwalb-Huttenlocher segmentation to 3D point clouds B.Sc., Computer Science, Jacobs University Bremen, submitted May 2012, [PDF]. Cotizo continued studying computer science at ETH Zürich.

  Corresponding publication:
  Mihai-Cotizo Sima and Andreas Nüchter. An extension of the Felzenszwalb-Huttenlocher segmentation to 3D point clouds, In Proceedings of the 5th International Conference on Machine Vision (ICMV '12), SPIE 8783, Wuhan, China, October 2012, DOI 10.1117/12.2010527, (878302 (March 13, 2013)), [Get Paper].

• Daniel Mihai. User Interface for Irma3D B.Sc., Computer Science, Jacobs University Bremen, submitted May 2012. Daniel continued studying at TU Munich.
   

2011

• Hassan Afzal. Coloring 3D scans with thermal information M.Sc., Computer Science, Jacobs University Bremen, submitted August 2011. Hassan is now doctoral student at University of Luxembourg.

  Corresponding publications:
  Dorit Borrmann, Hassan Afzal, Jan Elseberg, Andreas Nüchter. Video: Thermal 3D Modeling of Indoor Environments for Saving Energy, In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '12), ISBN 978-1-4673-1735-1, pages 4538 - 4539, Vilamoura/Algarve, Portugal, October 2012, [Get Paper].
  Dorit Borrmann, Hassan Afzal, Jan Elseberg, and Andreas Nüchter. Mutual Calibration for 3D Thermal Mapping. In Proceedings of the 10th International IFAC Symposium on Robot Control (SYROCO '12), Volume 10, Part 1, ISBN 978-3-902823-11-3, DOI 10.3182/20120905-3-HR-2030.00073, Dubrovnik, Croatia, September 2012, [Get Paper (PDF)].

• HamidReza Houshair. Panoramic Image Projection for SIFT based 3D scan Registration M.Sc., Computer Science, Jacobs University Bremen, submitted August 2011. HamidReza stayed in my lab and started PhD studies.

  Corresponding publication:
  Andreas Nüchter, HamidReza Houshiar, Dorit Borrmann, and Jan Elseberg. Projektionen für die Scanregistrierung mit Hilfe von Bildmerkmalen. in Photogrammetrie Laserscanning Optische 3D-Messtechnik, Beiträge der Oldenburger 3D-Tage 2012, pages 12-21, Jade Hochschule, Wichmann Verlag, ISBN 978-3-87907-515-7, February 2012.

• Flavia Grosan and Alexandru Tandrau. Object Identification using 3D Google SketchUp Models in Environment Scans B.Sc., Computer Science, Jacobs University Bremen, submitted May 2011. Flavia Grosan and Alexandru started their Master's studies at EPFL. Flavia Grosan has won the Google Anita Borg Memorial Scholarship. Congratulations!

  Corresponding publication:
  Flavia Grosan, Alexandru Tandrau, and Andreas Nüchter. Localizing Google SketchUp Models in Outdoor 3D Scans, In Proceedings of the XXIII International Symposium on Information, Communication and Automation Technologies, Sarajevo, Bosnia, October 2010, [Get Paper] [Get Video 1 (youtube)] [Get Video 2 (youtube)].

• Ulugbek Makhmudov. Nearest Neighbor Search for ICP and SLAM B.Sc., Computer Science, Jacobs University Bremen, submitted May 2011. Ulugbek did ??? afterwards.

• Diana Babiac. Accuracy of "Building Bremen in a Day" B.Sc., Computer Science, Jacobs University Bremen, submitted May 2011. Diana continued studying at TU Munich.

• Prashant K.C. 3D Mapping of the Jacobs University Bremen B.Sc., Computer Science, Jacobs University Bremen, submitted May 2011. Prashant went to clever soft afterwards.

  Corresponding publication:
  Dorit Borrmann, Jan Elseberg, Prashant Narayan K.C., and Andreas Nüchter. Ein Punkt pro Kubikmeter – präzise Registrierung von terrestrischen Laserscans mit Scanmatching. in Photogrammetrie Laserscanning Optische 3D-Messtechnik, Beiträge der Oldenburger 3D-Tage 2012, pages 4-11, Jade Hochschule, Wichmann Verlag, ISBN 978-3-87907-515-7, February 2012.

• Oliver Dunkley and Billy Okal. A Cheap Chess Robot : Planning and Perception B.Sc., Computer Science, Jacobs University Bremen, submitted May 2011, [PDF]. Oliver moved to Berlin after finishing his thesis and Billy stayed in my lab for doing his M.Sc.

  Corresponding publication:
  Oliver Dunkley and Billy Okal. Development of a Cheap Chess Robot: Planning and Perception. In Informatiktage 2012, Fachwissenschaftlicher Informatik-Kongress Lecture Notes in Informatics, Bonn, Germany, March 2012 [Get Paper (PDF)].
   

2010

• Elena Digor, Autonomous exploration of an unknown environment with a continuously rotating scanner M.Sc. Jacobs University Bremen, submitted August 2010, Elena went to google Zürich as an intern while finishing her thesis and continued to work there.
  Corresponding publication:
  Elena Digor, Andreas Birk, and Andreas Nüchter Exploration Strategies for a Robot with a Continously Rotating 3D Scanner, In Proceedings of the Second International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR '10), Lecture Notes in Computer Science, Volume 6472/2010, ISBN-13 978-3-642-17318-9, pages 374-386, Darmstadt, Germany, November 2010, [Get Paper] [Get Video 1 (MPEG)] [Get Video 1 (MPEG)].

• Seyedshams Feyzabadi, GPU-accelerated SLAM6D Master thesis, M.Sc. Jacobs University Bremen, submitted September 2010, Shams accepted an offer from DFKI Bremen - Robotics Innovation Center
  Corresponding publication:
  Andreas Nüchter, Seyedshams Feyzabadi, Deyuan Qiu, and Stefan May. SLAM à la carte GPGPU for Globally Consistent Scan Matching. In Proceedings of the 4th European Conference on Mobile Robots (ECMR '11), Örebro, Sweden, September 2011 [Get Paper (PDF)].

• Darko Mareshanski, Automatic marker-free registration of terrestrial laser scans based on SIFT features from reflectance images, [PDF], B.Sc., Computer Science, Jacobs University Bremen, submitted May 2010, Darko continued studying computer science at ETH Zürich.

• Stanislav Gutev, Merging 3D laser scans on the basis of skyline curvature extractionsD, B.Sc. Computer Science, Jacobs University Bremen, submitted May 2010, Stanislav continued his studies of informatics in Edinburgh.
  Corresponding publication:
  Andreas Nüchter, Stanislav Gutev, Dorit Borrmann, and Jan Elseberg. Skyline-based Registration of 3D Laser Scans. Proceedings of the Joint ISPRS workshop on 3D city modelling & applications and the 6th 3D GeoInfo (3DCMA '11), Wuhan, China, 2011, [Get Paper (PDF)].

• Stefan Lucian Rosu, OpenMP in SLAM6D, B.Sc. Computer Science, Jacobs University Bremen, submitted May 2010.

• Shaan Rauniyar, Life-long 3D Mapping, B.Sc., Computer Science, Jacobs University Bremen, submitted May 2010, Shaan went to clever soft afterwards.
  Corresponding publication:
  Dorit Borrmann, Jan Elseberg, Shaan S. Rauniyar, and Andreas Nüchter. Lifelong 3D Mapping – Monitoring with a 3D Scanner, In Proceedings of the IEEE/RSJ IROS Workshop on Robotics for Environmental Monitoring, Taipei, Taiwan, October 2010. [Get Paper]. [Note: This workshop was canceled, but the organizers decided to publish all reviewed and accepted papers online. Please use this link to visit the workshop webpage.

• Hozefa Indorweala, Volume calculation for 3D Mine Mapping B.Sc., Computer Science, Jacobs University Bremen, submitted May 2010, Hozefa started to work for Robotics Equipment Corporation (REC) afterwards.
   

2009

• Sven Albrecht, An Analysis of Visual Mono-SLAM, [PDF], M.Sc. Computer Science, University of Osnabrück, submitted October 2009, Sven became a PhD student in Osnabrück.

• Dorit Borrmann and Jan Elseberg, Deforming Scans for Improving the Map Quality using Plane Extraction and Thin Plate Splines [PDF], M.Sc., Computer Science, University of Osnabrück, submitted August 2009, Dorit and Jan became my first two PhD students at Jacobs University.
  Corresponding publication:
  Jan Elseberg, Dorit Borrmann, Andreas Nüchter, and Kai Lingemann. Non-Rigid Registration and Rectification of 3D Laser Scans, In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '10), ISBN 978-1-4244-6676-4, pages 1546-1552, Taipei, Taiwan, October 2010, [Get Paper]

• Jochen Sprickerhof, Effizientes Schleifenschließen mit sechs Freiheitsgraden in Laserscans von mobilen Robotern - Die ELCH (Explicit Loop Closing) Heuristik [PDF], Dipl.-Systemwiss., University of Osnabrück. Jochen became a doctoral student at University of Osnabrück and is supervised by Prof. Dr. Joachim Hertzberg and me.
  Corresponding publication:
  Jochen Sprickerhof, Andreas Nüchter, Kai Lingemann, Joachim Hertzberg. An Explicit Loop Closing Technique for 6D SLAM, In Proceedings of the 4th European Conference on Mobile Robots (ECMR '09), Mlini/Dubrovnic, Croatia, September 2009. [Get Paper (PDF)] [Get Videos].

• Vlad Ion Iancu, Environment for Laser Scanner Simulation, Guided Research for B.Sc. Jacobs University Bremen, submitted May 2009, Vlad continued studying EE at Jacobs University Bremen.
   

2008

• Peter Schneider, 3D-Scan-Registrierung auf Basis der Helixtranslation [PDF], Dipl.-Inform. (Computervisualistik), University of Koblenz-Landau, submitted September 2008, Peter started to work for NOBAB GmbH afterwards.
  Corresponding publication:
  Andreas Nüchter, Jan Elseberg, Peter Schneider, and Dietrich Paulus. Linearization of Rotations for Globally Consistent n-Scan Matching, in Proceedings of the IEEE International Conference Robotics and Automation (ICRA '10), ISBN 978-1-4244-5040-4, pages 1373-1379, Anchorage, Alaska, May 2010, [Get Paper (PDF)].
  Andreas Nüchter, Jan Elseberg, Peter Schneider, and Dietrich Paulus. Study of Parameterizations for the Rigid Body Transformations of The Scan Registration Problem, Journal Computer Vision and Image Understanding (CVIU), Elsevier Science, Volume 114, Issue 8, pp. 963-980, ISSN 1077-3142, August 2010. [Get Paper (PDF)] [Elsevier Link with supplementary content].
   

2007

• Thomas Wiemann, Automatische Rekonstruktion Planarer 3D-Umgebungen [PDF], M.Sc. Physics / Computer Sciene, University of Osnabrück, submitted September 2007. Thomas continued his research here in Osnabrück in our lab in Osnabrück and at the technical University of Braunschweig in the RoboRithmics project. He received a young researcher's award (Karmann Innovations-Förderpreis) of University of Osnabrück, donated by Karmann, for his contribution to a method for automatic reconstruction of planar 3D surfaces. (Press Release young researcher's awards ceremony)
   

2006

• Nils Rosemann, Formvergleich auf 2D-Laserscandaten als Trackingverfahren [PDF], M.Sc. Physics / Computer Sciene, University of Osnabrück, submitted December 2006. Nils continued his research at PhD-level at University of Osnabrück with Prof. Brockmann.

• David Engelhardt, Webinterface zur Steuerung eines Rettungsroboters, [PDF], B.Sc. Mathematics / Computer Science, University of Osnabrück, submitted October 2006. After finishing his thesis, David started studying Computer Science at master level at University of Osnabrück.

• Lars Kunze, Visual Features to Help Close the Loop in 6D-SLAM [PDF], B.Sc. Cognitive Science, University of Osnabrück, submitted October 2006. After finishing his thesis, Lars started studying Computer Science at master level at University of Osnabrück and at the Technische Universität München.
  Corresponding publication:
  Lars Kunze, Kai Lingemann, Andreas Nüchter, and Joachim Hertzberg. Salient Visual Features to Help Close the Loop in 6D SLAM, in Proceedings of the ICVS Workshop on Computational Attention & Applications (WCAA '07), Bielefeld, Germany, ISBN 978-3-00-020933-8, March 2007, [Get Paper (PDF)].

• Dorit Borrmann and Jan Elseberg, Global konsistente 3D Kartierung am Beispiel des Botanischen Gartens in Osnabrück [PDF], B.Sc. Mathematics / Computer Science, University of Osnabrück, submitted October 2006. After finishing their thesis, Dorit and Jan continued their studies at master level at University of Osnabrück.
  Corresponding publications:
  Dorit Borrmann, Jan Elseberg, Kai Lingemann, Andreas Nüchter, and Joachim Hertzberg. The Efficient Extension of Globally Consistent Scan Matching to 6 DoF. In Proceedings of the 4th International Symposium on 3D Data Processing, Visualization and Transmission (3DPVT '08), Available electronically as Tech Report GT-IC-08-05 from the Georgia Institute of Technology, Atlanta, GA, USA, pages 29-36, June 2008 [Get Paper] [Get Video].
  Dorit Borrmann, Jan Elseberg, Kai Lingemann, Andreas Nüchter and Joachim Hertzberg. Globally consistent 3D mapping with scan matching. Journal of Robotics and Autonomous Systems, Vol. 56, Issue 2, pages 130 - 142, February 2008, [ScienceDirect Link] [Get Paper] [Get Videos].

• Nadja Müller, HRI für Rettungsroboter: Empirische Evaluation, Re-Design und Spezifikation der Operatorschnittstelle eines Robocup Rescue Roboters [PDF], M.Sc. Cognitive Sciene, University of Osnabrück, submitted May 2006. After finishing her thesis, Nadia joint Microsoft Ireland, doing software localization.

• Robert Märtin, Towards Ground Truth Disparity Maps of Natural Scenes: Combining Laser Range Scans and Stereo Images [PDF], B.Sc. Cognitive Sciene, University of Osnabrück, submitted March 2006. After finishing his thesis, Robert continued his research with Prof. Peter König in Osnabrück.

• Johannes S. Steger, Fusion of 3D Laser Scans and Stereo Images for Disparity Maps of Natural Scenes [PDF], B.Sc. Cognitive Sciene, University of Osnabrück, submitted March 2006. After finishing his thesis, Johannes continued his research with Prof. Peter König in Osnabrück.
  Corresponding publications:
  Johannes Steger, Robert Märtin, Kai Lingemann, Andreas Nüchter, Joachim Hertzberg, and Peter König. Laser range scans of natural scenes for the evaluation of stereo- matching algorithms. Poster at ICVS Workshop From Computational Cognitive Neuroscience to Computer Vision (CCNCV '07) Bielefeld, Germany, March 2007.
  Johannes Steger, Robert Märtin, Kai Lingemann, Andreas Nüchter, Joachim Hertzberg, and Peter König. Assessing stereo matching algorithms using ground-truth disparity maps of natural scenes, (Poster), in Proceedings of the 7th Meeting of the German Neuroscience Society / 31th Göttingen Neurobiology Conference, Neuroforum 2007, Göttingen, Germany, 2007.

• Stefan Stiene, Konturbasierte Objekterkennung aus Tiefenbildern eines 3D-Laserscanner, [PDF], M.Sc. Physics / Computer Sciene, University of Osnabrück, submitted January 2006. Stefan continued his research at PhD-level at University of Osnabrück and is responsible for the LISA project.
  Corresponding publication:
  Stefan Stiene, Kai Lingemann, Andreas Nüchter, and Joachim Hertzberg. Contour-based Object Detection in Range Images, in Proceedings of the Third IEEE International Symposium on 3D Data Processing, Visualization and Transmission (3DPVT '05), CDROM Proceedings, June 2006. [Get Paper (PDF)]
   

2005

• Kai Pervölz, Object Classification and Object Identification as a Combinded Approach, M.Sc. in Autonomous Systems, University of Applied Sciences Bonn-Rhein-Sieg, submitted October 2005. Kai continued his research at PhD-level at the Fraunhofer Institute IAIS.
  Corresponding publications:
  Sara Mitri, Simone Frintrop, Kai Pervölz, Hartmut Surmann, and Andreas Nüchter. Robust Object Detection at Regions of Interest with an Application in Ball Recognition, in Proceedings IEEE 2005 International Conference Robotics and Automation (ICRA '05), ISBN 0-7803-8915-8, pages 126 - 131, Barcelona, Spain, April 2005, [Get Paper (PDF)] [Get Paper (HTML)].
  Sara Mitri, Kai Pervölz, Hartmut Surmann, and Andreas Nüchter. Fast Color-Independent Ball Detection for Mobile Robots, in Proceedings of the IEEE International Conference Mechatronics and Robotics 2004 (MechRob '04), ISBN 3-938153-50-X, pages 900 - 905, Aachen, Germany, September 2004. [Get Paper (PDF)] [Get Paper (HTML)].
   

2004

• Kai Lingemann, Schnelles Pose-Tracking auf Laserscan-Daten für autonome mobile Roboter, Dipl-Inform., University of Bonn, submitted January 2004. Kai became my office mate and we are doing joint research.
  Corresponding publications:
  Kai Lingemann, Andreas Nüchter, Joachim Hertzberg, and Hartmut Surmann. High-Speed Laser Localization for Mobile Robots, Journal Robotics and Autonomous Systems, 51(4):275-296, 2005 [ScienceDirect link] [Get Paper (PDF)].
  Kai Lingemann, Hartmut Surmann, Andreas Nüchter, and Joachim Hertzberg. Indoor and Outdoor Localization for Fast Mobile Robots, in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '04), ISBN 0-7803-8464-4, pages 2185 - 2190, Sendai, Japan, September 2004. [Get Paper (PDF)].
   

2003

• Kai Pervölz, Ein Kamerasystem zur Fusion von 3D-Abstandsinformationen mit digitalen Farbbildern, [PDF], Dipl-Ing. (FH), University of Applied Sciences Aachen, submitted August 2003. Kai went to University of applied Sciences Bonn-Rhein-Sieg and continued his research at Master level.
  Corresponding publication:
  Kai Pervölz, Andreas Nüchter, Hartmut Surmann, and Joachim Hertzberg. Automatic Reconstruction of Colored 3D Models in Proceedings of Robotik 2004, VDI-Berichte 1841, pages 215 - 222, Munich, Germany, ISBN 3-18-091841-1, June 2004, [Get Paper (PDF)] [HTML version].