People

Head

Prof. Dr.-Ing. Marcus Baum

Office	Room 3.115
Tel.	+49 551 39 172024
E-Mail	marcus.baum@cs.uni-goettingen.de

More information

Assistance / Administration

Tina Bockler

Office	Room 3.107
Tel.	+49 551 39 172032
E-Mail	tina.bockler@informatik.uni-goettingen.de

Gunnar Krull

Office	Room 2.108
Tel.	+49 551 39 172025
E-Mail	krull@informatik.uni-goettingen.de

Researchers and PhD students

Aaron Kurda, M. Sc.

Office	Room 3.101
Tel.	+49 551 39 172030
E-Mail	aaron.kurda@cs.uni-goettingen.de
Research area	Localization, Odometry, SLAM

Publications: Aaron Kurda

Reducing Drift of Lidar Odometry by Incorporating OpenStreetMap Building Data

A. Kurda, S. Steuernagel, L. Jung, and M. Baum

2025 European Conference on Mobile Robots (ECMR), Padua, Italy, 2025.

BibTex DOI Preprint


@inproceedings{Kurda2025a,
  author = {Kurda, Aaron and Steuernagel, Simon and Jung, Lukas and Baum, Marcus},
  booktitle = {2025 European Conference on Mobile Robots (ECMR)},
  title = {Reducing Drift of Lidar Odometry by Incorporating OpenStreetMap Building Data},
  year = {2025},
  address = {Padua, Italy},
  month = sep,
  publisher = {IEEE},
  doi = {10.1109/ECMR65884.2025.11163206},
  preprint = {https://www.techrxiv.org/users/812931/articles/1214384-reducing-drift-of-lidar-odometry-by-incorporating-openstreetmap-building-data}
}

Lidar-only Odometry based on Multiple Scan-to-Scan Alignments over a Moving Window

A. Kurda, S. Steuernagel, and M. Baum

arXiv preprint, 2025.

BibTex DOI


@article{Kurda2025,
  author = {Kurda, Aaron and Steuernagel, Simon and Baum, Marcus},
  journal = {arXiv preprint},
  title = {Lidar-only Odometry based on Multiple Scan-to-Scan Alignments over a Moving Window},
  year = {2025},
  archiveprefix = {Preprint},
  copyright = {arXiv.org perpetual, non-exclusive license},
  doi = {10.48550/ARXIV.2503.21293}
}

Point Cloud Registration based on Gaussian Mixtures and Pairwise Wasserstein Distances

S. Steuernagel, A. Kurda, and M. Baum

2023 IEEE Symposium Sensor Data Fusion and International Conference on Multisensor Fusion and Integration (SDF-MFI), Bonn, Germany, 2023.

BibTex DOI Source Code


@inproceedings{2023_Steuernagel,
  author = {Steuernagel, Simon and Kurda, Aaron and Baum, Marcus},
  booktitle = {2023 IEEE Symposium Sensor Data Fusion and International Conference on Multisensor Fusion and Integration (SDF-MFI)},
  title = {Point Cloud Registration based on {G}aussian Mixtures and Pairwise {W}asserstein Distances},
  year = {2023},
  address = {Bonn, Germany},
  month = nov,
  pages = {1-8},
  publisher = {IEEE},
  code = {https://github.com/Fusion-Goettingen/MFI_2023_Steuernagel_GWDICP},
  doi = {10.1109/sdf-mfi59545.2023.10361440}
}

Lukas Steinegger, M. Sc.

Office	Room 3.101
Tel.	+49 551 39 26039
E-Mail	lukas.steinegger@cs.uni-goettingen.de
Research area	Multi-object tracking, machine learning, reinforcement learning

Publications: Lukas Steinegger

Simon Steuernagel, M. Sc.

Office	Room 3.101
Tel.	+49 551 39 172034
E-Mail	simon.steuernagel@cs.uni-goettingen.de
Research area	Extended Object Tracking, SLAM

Publications: Simon Steuernagel

Decoupled Quadratic Filter for Extended Object Tracking using Multiplicative Noise

S. Steuernagel and M. and Baum

2025 Sensor Data Fusion: Trends, Solutions, Applications (SDF), 2025.
to appear

BibTex


@inproceedings{Steuernagel2025_SDF,
  author = {Steuernagel, Simon and and Baum, Marcus},
  booktitle = {2025 Sensor Data Fusion: Trends, Solutions, Applications (SDF)},
  title = {Decoupled Quadratic Filter for Extended Object Tracking using Multiplicative Noise},
  year = {2025},
  month = nov,
  publisher = {IEEE},
  webnote = {to appear}
}

Reducing Drift of Lidar Odometry by Incorporating OpenStreetMap Building Data

A. Kurda, S. Steuernagel, L. Jung, and M. Baum

2025 European Conference on Mobile Robots (ECMR), Padua, Italy, 2025.

BibTex DOI Preprint


@inproceedings{Kurda2025a,
  author = {Kurda, Aaron and Steuernagel, Simon and Jung, Lukas and Baum, Marcus},
  booktitle = {2025 European Conference on Mobile Robots (ECMR)},
  title = {Reducing Drift of Lidar Odometry by Incorporating OpenStreetMap Building Data},
  year = {2025},
  address = {Padua, Italy},
  month = sep,
  publisher = {IEEE},
  doi = {10.1109/ECMR65884.2025.11163206},
  preprint = {https://www.techrxiv.org/users/812931/articles/1214384-reducing-drift-of-lidar-odometry-by-incorporating-openstreetmap-building-data}
}

Extended Object Tracking by Rao-Blackwellized Particle Filtering for Orientation Estimation

S. Steuernagel and M. Baum

IEEE Transactions on Signal Processing, vol. 73, 2025.

BibTex DOI Source Code


@article{Steuernagel2025,
  author = {Steuernagel, Simon and Baum, Marcus},
  journal = {IEEE Transactions on Signal Processing},
  title = {Extended Object Tracking by {R}ao-{B}lackwellized Particle Filtering for Orientation Estimation},
  year = {2025},
  pages = {2590-2602},
  volume = {73},
  code = {https://github.com/Fusion-Goettingen/TSP_2025_Steuernagel_RBPF},
  doi = {10.1109/TSP.2025.3574689}
}

Lidar-only Odometry based on Multiple Scan-to-Scan Alignments over a Moving Window

A. Kurda, S. Steuernagel, and M. Baum

arXiv preprint, 2025.

BibTex DOI


@article{Kurda2025,
  author = {Kurda, Aaron and Steuernagel, Simon and Baum, Marcus},
  journal = {arXiv preprint},
  title = {Lidar-only Odometry based on Multiple Scan-to-Scan Alignments over a Moving Window},
  year = {2025},
  archiveprefix = {Preprint},
  copyright = {arXiv.org perpetual, non-exclusive license},
  doi = {10.48550/ARXIV.2503.21293}
}

Modeling Contour Measurements of Elliptical Extended Objects via Gaussian Spatial Distributions

S. Steuernagel, K. Thormann, and M. Baum

2024 Sensor Data Fusion: Trends, Solutions, Applications (SDF), 2024.

BibTex DOI


@inproceedings{Steuernagel2024b,
  author = {Steuernagel, Simon and Thormann, Kolja and Baum, Marcus},
  booktitle = {2024 Sensor Data Fusion: Trends, Solutions, Applications (SDF)},
  title = {Modeling Contour Measurements of Elliptical Extended Objects via Gaussian Spatial Distributions},
  year = {2024},
  month = nov,
  pages = {1--8},
  publisher = {IEEE},
  doi = {10.1109/sdf63218.2024.10773723}
}

Random Matrix-based Tracking of Rectangular Extended Objects with Contour Measurements

S. Steuernagel, K. Thormann, and M. Baum

2024 27th International Conference on Information Fusion (FUSION), 2024.

BibTex DOI


@inproceedings{Steuernagel2024a,
  author = {Steuernagel, Simon and Thormann, Kolja and Baum, Marcus},
  booktitle = {2024 27th International Conference on Information Fusion (FUSION)},
  title = {Random Matrix-based Tracking of Rectangular Extended Objects with Contour Measurements},
  year = {2024},
  month = jul,
  pages = {1--8},
  publisher = {IEEE},
  doi = {10.23919/fusion59988.2024.10706288}
}

Indoor Localization based on Short-Range Radar and Rotating Landmarks

K. Thormann, S. Steuernagel, and M. Baum

2024 27th International Conference on Information Fusion (FUSION), 2024.

BibTex DOI


@inproceedings{Thormann2024,
  author = {Thormann, Kolja and Steuernagel, Simon and Baum, Marcus},
  booktitle = {2024 27th International Conference on Information Fusion (FUSION)},
  title = {Indoor Localization based on Short-Range Radar and Rotating Landmarks},
  year = {2024},
  month = jul,
  pages = {1--8},
  publisher = {IEEE},
  doi = {10.23919/fusion59988.2024.10706316}
}

Point Cloud Registration based on Gaussian Mixtures and Pairwise Wasserstein Distances

S. Steuernagel, A. Kurda, and M. Baum

2023 IEEE Symposium Sensor Data Fusion and International Conference on Multisensor Fusion and Integration (SDF-MFI), Bonn, Germany, 2023.

BibTex DOI Source Code


@inproceedings{2023_Steuernagel,
  author = {Steuernagel, Simon and Kurda, Aaron and Baum, Marcus},
  booktitle = {2023 IEEE Symposium Sensor Data Fusion and International Conference on Multisensor Fusion and Integration (SDF-MFI)},
  title = {Point Cloud Registration based on {G}aussian Mixtures and Pairwise {W}asserstein Distances},
  year = {2023},
  address = {Bonn, Germany},
  month = nov,
  pages = {1-8},
  publisher = {IEEE},
  code = {https://github.com/Fusion-Goettingen/MFI_2023_Steuernagel_GWDICP},
  doi = {10.1109/sdf-mfi59545.2023.10361440}
}

Evaluation Scores for Elliptic Extended Object Tracking Considering Diverse Object Sizes

S. Steuernagel, K. Thormann, and M. Baum

2023 26th International Conference on Information Fusion (FUSION), Charleston, SC, USA, 2023.

BibTex DOI Source Code


@inproceedings{Steuernagel_2023b,
  author = {Steuernagel, Simon and Thormann, Kolja and Baum, Marcus},
  booktitle = {2023 26th International Conference on Information Fusion (FUSION)},
  title = {Evaluation Scores for Elliptic Extended Object Tracking Considering Diverse Object Sizes},
  year = {2023},
  address = {Charleston, SC, USA},
  month = jun,
  pages = {1-7},
  publisher = {IEEE},
  code = {https://github.com/Fusion-Goettingen/Fusion_2023_Steuernagel_EvaluationScores},
  doi = {10.23919/fusion52260.2023.10224112}
}

Improved Extended Object Tracking with Efficient Particle-based Orientation Estimation

S. Steuernagel, K. Thormann, and M. Baum

2023 26th International Conference on Information Fusion (FUSION), Charleston, SC, USA, 2023.

BibTex DOI Source Code


@inproceedings{Steuernagel_2023,
  author = {Steuernagel, Simon and Thormann, Kolja and Baum, Marcus},
  booktitle = {2023 26th International Conference on Information Fusion (FUSION)},
  title = {Improved Extended Object Tracking with Efficient Particle-based Orientation Estimation},
  year = {2023},
  address = {Charleston, SC, USA},
  month = jun,
  pages = {1-8},
  publisher = {IEEE},
  code = {https://github.com/Fusion-Goettingen/Fusion_2023_Steuernagel_EOTParticleFilter},
  doi = {10.23919/fusion52260.2023.10224128}
}

Track-to-track Association based on Stochastic Optimization

L. M. Wolf, S. Steuernagel, K. Thormann, and M. Baum

2023 26th International Conference on Information Fusion (FUSION), Charleston, SC, USA, 2023.

BibTex DOI Source Code


@inproceedings{Wolf_2023,
  author = {Wolf, Laura M. and Steuernagel, Simon and Thormann, Kolja and Baum, Marcus},
  booktitle = {2023 26th International Conference on Information Fusion (FUSION)},
  title = {Track-to-track Association based on Stochastic Optimization},
  year = {2023},
  address = {Charleston, SC, USA},
  month = jun,
  pages = {1-7},
  publisher = {IEEE},
  code = {https://github.com/Fusion-Goettingen/Fusion_2023_Wolf_T2TA},
  doi = {10.23919/fusion52260.2023.10224113}
}

CNN-based Shape Estimation for Extended Object Tracking using Point Cloud Measurements

S. Steuernagel, K. Thormann, and M. Baum

2022 25th International Conference on Information Fusion (FUSION), Linköping, Sweden, 2022.

BibTex DOI Source Code


@inproceedings{2022_Steuernagel,
  author = {Steuernagel, Simon and Thormann, Kolja and Baum, Marcus},
  booktitle = {2022 25th International Conference on Information Fusion (FUSION)},
  title = {{CNN}-based Shape Estimation for Extended Object Tracking using Point Cloud Measurements},
  year = {2022},
  address = {Link\"oping, Sweden},
  month = jul,
  pages = {1-8},
  publisher = {IEEE},
  code = {https://github.com/Fusion-Goettingen/Fusion2022_Steuernagel_CNN-EOT},
  doi = {10.23919/fusion49751.2022.9841254}
}

Laura Wolf, M. Sc.

Office	Room 3.102
Tel.	+49 551 39 21842
E-Mail	laura.wolf@cs.uni-goettingen.de
Research area	Track-2-track fusion, deterministic sampling, nonlinear estimation

Publications: Laura Wolf

A Multi-Stage Clustering Framework for Track-to-Track-Association

C. Malzer, L. Wolf, and M. Baum

2025 Sensor Data Fusion: Trends, Solutions, Applications (SDF), 2025.
to appear

BibTex


@inproceedings{Malzer2025_SDF,
  author = {Malzer, Claudia and Wolf, Laura and Baum, Marcus},
  booktitle = {2025 Sensor Data Fusion: Trends, Solutions, Applications (SDF)},
  title = {A Multi-Stage Clustering Framework for Track-to-Track-Association},
  year = {2025},
  month = nov,
  publisher = {IEEE},
  webnote = {to appear}
}

Track-to-track Association based on Deterministic Sampling using Herding

L. M. Wolf and M. Baum

2024 27th International Conference on Information Fusion (FUSION), 2024.

BibTex DOI


@inproceedings{Wolf2024,
  author = {Wolf, Laura M. and Baum, Marcus},
  booktitle = {2024 27th International Conference on Information Fusion (FUSION)},
  title = {Track-to-track Association based on Deterministic Sampling using Herding},
  year = {2024},
  month = jul,
  pages = {1--6},
  publisher = {IEEE},
  doi = {10.23919/fusion59988.2024.10706350}
}

Track-to-track Association based on Stochastic Optimization

L. M. Wolf, S. Steuernagel, K. Thormann, and M. Baum

2023 26th International Conference on Information Fusion (FUSION), Charleston, SC, USA, 2023.

BibTex DOI Source Code


@inproceedings{Wolf_2023,
  author = {Wolf, Laura M. and Steuernagel, Simon and Thormann, Kolja and Baum, Marcus},
  booktitle = {2023 26th International Conference on Information Fusion (FUSION)},
  title = {Track-to-track Association based on Stochastic Optimization},
  year = {2023},
  address = {Charleston, SC, USA},
  month = jun,
  pages = {1-7},
  publisher = {IEEE},
  code = {https://github.com/Fusion-Goettingen/Fusion_2023_Wolf_T2TA},
  doi = {10.23919/fusion52260.2023.10224113}
}

Deterministic Gaussian Filtering based on Herding

L. M. Wolf and M. Baum

2022 25th International Conference on Information Fusion (FUSION), Linköping, Sweden, 2022.

BibTex DOI Source Code


@inproceedings{2022_Wolf,
  author = {Wolf, Laura M. and Baum, Marcus},
  booktitle = {2022 25th International Conference on Information Fusion (FUSION)},
  title = {Deterministic {G}aussian Filtering based on Herding},
  year = {2022},
  address = {Link\"oping, Sweden},
  month = jul,
  pages = {1-8},
  publisher = {IEEE},
  code = {https://github.com/Fusion-Goettingen/Fusion_2022_Wolf_HKF},
  doi = {10.23919/fusion49751.2022.9841346}
}

Continuous Herded Gibbs Sampling

L. Wolf and M. Baum

2021 IEEE 24th International Conference on Information Fusion (FUSION), South Africa, 2021.

BibTex DOI


@inproceedings{2021_Wolf,
  author = {Wolf, Laura and Baum, Marcus},
  booktitle = {2021 IEEE 24th International Conference on Information Fusion (FUSION)},
  title = {Continuous Herded {G}ibbs Sampling},
  year = {2021},
  address = {South Africa},
  month = nov,
  pages = {1-6},
  publisher = {IEEE},
  doi = {10.23919/fusion49465.2021.9626934}
}

Deterministic Gibbs Sampling for Data Association in Multi-Object Tracking

L. M. Wolf and M. Baum

2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), Virtual, 2020.

BibTex DOI Source Code


@inproceedings{2020_Wolf,
  author = {Wolf, Laura M. and Baum, Marcus},
  booktitle = {2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)},
  title = {Deterministic {G}ibbs Sampling for Data Association in Multi-Object Tracking},
  year = {2020},
  address = {Virtual},
  month = sep,
  pages = {291-296},
  publisher = {IEEE},
  code = {https://github.com/Fusion-Goettingen/HerdedGibbs},
  doi = {10.1109/mfi49285.2020.9235211}
}

Marginal Association Probabilities for Multiple Extended Objects without Enumeration of Measurement Partitions

S. Yang, L. M. Wolf, and M. Baum

2020 IEEE 23rd International Conference on Information Fusion (FUSION), Virtual, 2020.

BibTex DOI


@inproceedings{2020_Fusion_Yang,
  author = {Yang, Shishan and Wolf, Laura M. and Baum, Marcus},
  booktitle = {2020 IEEE 23rd International Conference on Information Fusion (FUSION)},
  title = {Marginal Association Probabilities for Multiple Extended Objects without Enumeration of Measurement Partitions},
  year = {2020},
  address = {Virtual},
  month = jul,
  pages = {1-8},
  publisher = {IEEE},
  doi = {10.23919/fusion45008.2020.9190500}
}

External PhD students

Clarissa Böker, M. Sc.

Affiliation	German Aerospace Center (DLR), Institute of Transportation Sytems, Braunschweig
Research area	Track level fusion, collective perception

Nils Kornfeld, M. Sc.

Affiliation	German Aerospace Center (DLR), Institute of Transportation Sytems, Berlin
Research area	Machine learning, deep learning, computer vision, tracking

Claudia Malzer, M. Sc.

Research area

Spatial information systems, clustering

Publications: Claudia Malzer

A Multi-Stage Clustering Framework for Track-to-Track-Association

C. Malzer, L. Wolf, and M. Baum

2025 Sensor Data Fusion: Trends, Solutions, Applications (SDF), 2025.
to appear

BibTex


@inproceedings{Malzer2025_SDF,
  author = {Malzer, Claudia and Wolf, Laura and Baum, Marcus},
  booktitle = {2025 Sensor Data Fusion: Trends, Solutions, Applications (SDF)},
  title = {A Multi-Stage Clustering Framework for Track-to-Track-Association},
  year = {2025},
  month = nov,
  publisher = {IEEE},
  webnote = {to appear}
}

Constraint-Based Hierarchical Cluster Selection in Automotive Radar Data

C. Malzer and M. Baum

Sensors, vol. 21, no. 10, May 2021.

BibTex DOI Source Code


@article{Sensors21_Malzer,
  author = {Malzer, Claudia and Baum, Marcus},
  journal = {Sensors},
  title = {Constraint-Based Hierarchical Cluster Selection in Automotive Radar Data},
  year = {2021},
  issn = {1424-8220},
  month = may,
  number = {10},
  pages = {3410},
  volume = {21},
  article-number = {3410},
  code = {https://github.com/Fusion-Goettingen/Constraint-based-Clustering},
  doi = {10.3390/s21103410},
  publisher = {MDPI AG},
  url = {https://www.mdpi.com/1424-8220/21/10/3410}
}

A Hybrid Approach To Hierarchical Density-based Cluster Selection

C. Malzer and M. Baum

2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), Virtual, 2020.

BibTex DOI Source Code


@inproceedings{2020_Malzer,
  author = {Malzer, Claudia and Baum, Marcus},
  booktitle = {2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)},
  title = {A Hybrid Approach To Hierarchical Density-based Cluster Selection},
  year = {2020},
  address = {Virtual},
  month = sep,
  pages = {223-228},
  publisher = {IEEE},
  code = {https://hdbscan.readthedocs.io/en/latest/how_to_use_epsilon.html},
  doi = {10.1109/mfi49285.2020.9235263}
}

Alumni

Shradha Fowdur, Dr.

Function

Former External Ph.D. Student

Hauke Kaulbersch, Dr.

Function

Former External Ph.D. Student

Fabian Sigges, Dr.

Function

Former Ph.D. Student

Kolja Thormann, Dr.

Function

Former Ph.D. Student

Simon Ollander, Dr.

Function

Former External Ph.D. Student

Shishan Yang, Dr.

Function

Former Ph.D. Student