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Papers and other Publications

A list of published papers and posters and a download link if available.

2026

• Yao, Y., Bouzidi, M.-K., Goehring, D., Reichardt, J.: EP-Diffuser: An Efficient Diffusion Model for Traffic Scene Generation and Prediction via Polynomial Representations, accepted at IEEE International Conference on Robotics and Automation (ICRA), Vienna, Austria, 2026, [preprint arxiv.org pdf].
• Timoneda, X., Herb, M., Duerr, F., Goehring, D.: SelfOccFlow: Towards end-to-end self-supervised 3D Occupancy Flow prediction, accepted at IEEE Robotics Automation Letters, 2026.
• Wullrich, S., Steinke, N., Goehring, D.: Deep Neural Network Based Roadwork Detection for Autonomous Driving, 8th International Workshop on Pervasive Computing for Vehicular Systems, in conunction with IEEE International Conference on Pervasive Computing and Communications (PerCom), Pisa, Italy, 2026, [Best Workshop Paper Award] [pdf].

2025

• Steinke, N., Goehring, D.: GroundLoc: Efficient Large-Scale Outdoor LiDAR-Only Localization, IEEE Robotics and Automation Letters, Volume: 10, Issue: 12, 2025. [ieee link][preprint arxiv.org pdf].
• Bouzidi, M.-K., Schlauch, C., Scheurer, N., Yao, Y., Klein, N., Göhring, D., Reichardt, J.: Closing the loop: Motion prediction models beyond open-loop benchmarks, In: IEEE 28th International Conference on Intelligent Transportation Systems (ITSC), 2025. [preprint arxiv.org pdf].
• Bouzidi, M.-K., Derajic., B., Goehring, D., Reichardt, J.: Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC, Intelligent Vehicles Symposion (IV), 2025. [preprint arxiv.org pdf] [bib].
• Yao, Y., Bouzidi, M.-K., Goehring, D., Reichardt, J.: EP-Diffuser: An Efficient Diffusion Model for Traffic Scene Generation and Prediction via Polynomial Representations, IEEE Robotics Automation Letters, Volume 10, Issue 9, 2025, [preprint arxiv.org pdf].
• Yao, Y., Bouzidi, M.-K., Goehring, D., Reichardt, J.: Beyond In-Distribution Performance: A Cross-Dataset Study of Trajectory Prediction Robustness, arXiv.org. [preprint arxiv.org pdf]

2024

• Jorge, J., Barros, T., Premebida, C., Aleksandrov, M., Goehring, D., Nunes, U.J.: Impact of 3D LiDAR resolution in SLAM approaches: A comparative study in Urban environments.ROBOT 2024, to appear, 2024. [preprint arxiv.org pdf] [bib].
• Beutler, T., Rudolph, A., Goehring, D., Vercauteren, N.: Exploring the ability of regional extrapolation for precipitation nowcasting with deep learning. Meteorologische Zeitschrift, to appear, 2024. [preprint pdf] bib].
• Yao, Y., Yan, S., Goehring, D., Burgard, W., Reichardt, J.: Improving Out-of-Distribution Generalization of Trajectory Prediction for Autonomous Driving via Polynomial Representations. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024. [preprint arxiv.org pdf] [bib], Best Poster Award at the IAAS Workshop [pdf].
• Timoneda, X., Herb, M., Duerr, F., Goehring, D., Yu, F.: Multi-modal NeRF Self-Supervision for LiDAR Semantic Segmentation. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024. [preprint arxiv.org pdf] [bib]
• Bouzidi, M.-K., Derajic, B., Goehring, D., Reichardt, J.: Motion Planning under Uncertainty: Integrating Learning-Based Multi-Modal Predictors into Branch Model Predictive Control. IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), 2024. [preprint arxiv.org pdf] [bib]
• Quentin, P., Goehring, D. MaskVal: Simple but Effective Uncertainty Quantification for 6D Pose Estimation. IEEE International Conference on Automation Science and Engineering (CASE), 2024. [preprint arxiv.org pdf] [bib]
• Steinke, N., Goehring, D., Rojas, R. GroundGrid: LiDAR Point Cloud Ground Segmentation and Terrain Estimation. IEEE International Conference on Robotics and Automation (ICRA), 2024. [preprint arxiv.org pdf] [bib]]
• Bouzidi, M.-K., Yao, Y., Goehring, D., Reichardt, J. Learning-Aided Warmstart of Model Predictive Control in Uncertain Fast-Changing Traffic. IEEE International Conference on Robotics and Automation (ICRA), 2024. [pdf] [bib]

2023

• Cao, B., Ritter, C.-N., Alomari, K., Goehring, D. Cooperative LiDAR Localization and Mapping for V2X Connected Autonomous Vehicles. IEEE International Conference on Intelligent Robots and Systems (IROS), Detroit, MI, USA, 2023. [pdf] [bib]
• Quentin, P., Knoll, D., Goehring, D. Industrial Application of 6D Pose Estimation for Robotic Manipulation in Automotive Internal Logistics. IEEE International Conference on Automation Science and Engineering (CASE), 2023. [pdf] [bib]
• Yao, Y., Goehring, D., Reichardt, J. An Empirical Bayes Analysis of Object Trajectory Representation Models. IEEE International Conference on Intelligent Transportation Systems (ITSC), Bilbao, Spain, 2023. [pdf]

2022

• Alomari, K., Sundermann, S., Goehring, D., Rojas, R. Design and Experimental Analysis of an Adaptive Cruise Control. Robotics, Computer Vision and Intelligent Systems, Springer International Publishing, Freie Universität Berlin, Germany, 2022. [bib]
• Philipp, A., Göhring, D. Interaction-aware Prediction of Urban Traffic Scenarios. AutoNOMOS-Labs, Freie Universität Berlin, Germany, 2022. [pdf] [bib]

2021

• Cao, B., Carillo, R., Philipp, A., Göhring, D. LiDAR-Based Object-Level SLAM for Autonomous Vehicles. In: Proceedings of the IEEE/RSJ International Conference of Intelligent Robots and Systems (IROS), Prague, Czech Republic, 2021. [pdf] [bib]
• Steinke, N., Ritter, C.-N., Goehring, D., Rojas, R. Robust LiDAR Feature Localization for Autonomous Vehicles Using Geometric Fingerprinting on Open Datasets. In: IEEE Robotics and Automation Letters, 2021. [pdf] [bib]

2020

• Carrillo Mendoza, R., Cao, B., Goehring, D., Rojas, R. GALNet: An End-to-End Deep Neural Network for Ground Localization of Autonomous Cars. In: ROBOVIS 2020: International Conference on Robotics, Computer Vision and Intelligent Systems, online, 2020. [pdf] [bib]
• Alomari, K., Carrillo Mendoza, R., Sundermann, S., Goehring, D., Rojas, R. Fuzzy Logic-based Adaptive Cruise Control for Autonomous Model Car. In: ROBOVIS 2020 : International Conference on Robotics, Computer Vision and Intelligent Systems, online, 2020. [pdf] [bib]
• Cao, B., Ritter, C.-N., Goehring, D., Rojas, R. Accurate Localization of Autonomous Vehicles Based on Pattern Matching and Graph-Based Optimization in Urban Environments. In: IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)}, online, 2020. [pdf] [bib]
• Poss, C. Irrenhauser, T., Prueglmeier, M., Goehring, D., Salehi, V, Zoghlami, F. Enabling Robust and Autonomous Materialhandling in Logistics Through Applied Deep Learning Algorithms. In: M. Arif Wani, Mehmed Kantardzic and Moamar Sayed-Mouchaweh, editors, Deep Learning Applications, Advances in Intelligent Systems and Computing, Volume 1098, pages 155--176. Springer, 2020.
• Steinhoff, M., Goehring, D. Pedestrian Head and Body Pose Estimation with CNN in the Context of Automated Driving. In: 6. Conference on Vehicle Technology and Intelligent Transport Systems (VEHITS), Prague, Czech Republic, online, 2020. [pdf] [bib]

2019

• Poss, C., Mlouka, O. B., Irrenhauser, T., Prueglmeier, M., Göhring, D., Zoghlami, F., Salehi, V. Robust Framework for intelligent Gripping Point Detection. In: IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society, Lisbon, Portugal, 2019. [bib]
• Poss, C. Irrenhauser, T., Prueglmeier, M., Goehring, D., Zoghlami, F., Salehi, V, Ibraginow, O. Enabling robot selective trained Deep Neural Networks for Object Detection through intelligent Infrastructure. In: 4th International Conference on Artificial Intelligence and Robotics - International Conference on Automation, Control and Robotics Engineering (ICAIR - CACRE), Shenzen, China, 2019. Best Paper Award [pdf] [bib]
• Phillip, A., Goehring, D. Analytic Collision Risk Calculation for Autonomos Vehicle Navigation. In: IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019. [pdf] [bib]
• Poss, C., Irrenhauser, T., Prueglmeier, M., Goehring, D., Zoghlami, F., Salehi, V. Perceptionbased Intelligent Materialhandling in Industrial Logistics Environments. In: Proceedings of the 2019 11th International Conference on Computer and Automation Engineering, Perth, Australia, 2019.

2018

• Poss, C., Olimjon, I., Indreswaran, A., Gutsche, N., Irrenhauser, T., Prueglmeier, M., Goehring, D. Application of Open-Source Deep Neural Networks for Object Detection in Industrial Environments. In: IEEE International Conference on Machine Learning and Applications, Orlando, FL, USA, 2018. [pdf] [bib]
• Steinke, N., Ulbrich, F., Goehring, D., Rojas, R. Traffic Mapping for Autonomous Cars. In: IEEE Intelligent Vehicle (IV 18), Suzhou, China, 2018. [pdf] [bib]
• Ulbrich, F., Langner, T., Sundermann, S., Goehring, D., Rojas, R. Following Cars With Elastic Bands. In: IEEE Intelligent Vehicle (IV 18), Suzhou, China, 2018. [pdf] [bib]
• Boroujeni, Z., Mohammadi, M., Neumann, D., Goehring, D., Rojas, R. Autonomous Car Navigation using Vector Fields. IEEE Intelligent Vehicle (IV 18), Suzhou, China, 2018. [pdf] [bib]

2017

• Ulbrich, F., Goehring, D., Langner, T., Boroujeni, Z., Rojas, R. Stable Timed Elastic Bands with Loose Ends. In: IEEE Intelligent Vehicle (IV 17), Redondo Beach, CA, USA, 2017. [pdf] [bib]
• Neumann, D., Langner, T., Ulbrich, F., Spitta, D., Goehring, D. Online Vehicle Detection using Haar-like, LBP and HOG Feature based Image Classifiers with Stereo Vision Preselection. In: IEEE Intelligent Vehicle (IV 17), Redondo Beach, CA, USA, 2017. [pdf] [bib]
• Boroujeni, Z., Goehring, D., Ulbrich, F., Neumann, D., Rojas, R. Flexible Unit A-star Trajectory Planning for Autonomous Vehicles on Structured Road Maps. In: IEEE International Conference on Vehicular Electronics and Safety (ICVES), Vienna, Austria, 2017. [pdf] [bib]

2016

• Spangenberg, R., Goehring, D., Rojas, R. Pole-Based Localization for Autonomous Vehicles in Urban Scenarios. In: Proceedings of the IEEE/RSJ International Conference of Intelligent Robots and Systems (IROS), Daejeon, Korea, 2016. [pdf] [video] [bib]
• Ulbrich, F., Rotter, S., Goehring, D., Rojas, R. Extracting Path Graphs from Vehicle Trajectories. In: Intelligent Vehicle (IV 16), Gothenburg, Sweden, 2016. [pdf] [bib]
• Lange, S., Ulbrich, F., Goehring, D. Online Vehicle Detection using Deep Neural Networks and Lidar based Preselected Image Patches. In: Intelligent Vehicle (IV 16), Gothenburg, Sweden, 2016. [pdf] [bib]
• Langner, T., Seifert, D., Fischer, B., Goehring, D., Ganjineh, T., Rojas, R. Traffic Awareness Driver Assistance based on Stereovision, Eye-tracking, and Head-Up Display. In: IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 2016. [pdf] [slides] [poster] [video] [bib]

2015

• Tadjine, H., Goehring, D. Acoustic/Lidar Sensor Fusion for Car Tracking in City Traffic Scenarios. In: 3rd International Symposium on Future Active Safety Technology Towards
  zero traffic accidents, 2015. [pdf] [slides] [bib]
• Song, H., Fritz, M., Goehring, D., Darrell, T. Learning to detect visual grasp affordance. In: IEEE Transaction on Automation Science and Engineering, 2015. [pdf] [bib]

2014

• Goehring, D., Hoffman, J., Roder, E., Saenko, K., Darrell, T. Interactive Adaptation of Real-Time Object Detectors. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014. [pdf] [slides] [video] [bib]

2013

• Guadarrama, S., Riano, L., Golland, D., Göhring, D., Jia, Y., Klein, D., Abbeel, P., Darrell, T. Grounding Spatial Relations for Human-Robot Interaction. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, 2013. [pdf] [video] [bib]
• Schnürmacher, M., Göhring, D., Wang, M., Ganjineh, T. High level sensor data fusion of radar and lidar for car-following on highways. In: Recent Advances in Robotics and Automation, 2013. [bib]

2012

• Göhring, D., Latotzky, D., Wang, M., Rojas, R. Semi-Autonomous Car Control Using Brain Computer Interfaces. In: Proceedings of the 12th International Conference of Intelligent Autonomous Systems (IAS), South Korea, 2012. [pdf] [bib]
• Daniel Göhring Controller Architecture for the Autonomous Cars: MadeInGermany and e-Instein. Technical Report, AutoNOMOS-Labs, Freie Universität Berlin, Germany, 2012. [pdf] [bib]

2011

• Göhring, D., Wang, M., Schnürmacher, M., Ganjineh, T. Radar / Lidar Sensor Fusion for Car-Following on Highways. In: Proceedings of 5th IEEE International Conference on Automation, Robotics and Applications (ICARA), Queenstown, New Zealand, 2011. [pdf] [bib]
• Reuschenbach, A., Wang, M., Ganjineh, T., Göhring, D. iDriver - A Human Machine Interface for Autonomous Cars. In: Proceedings of IEEE International Conference on Information Technology : New Generations (ITNG), Las Vegas, NV, USA, 2011. [pdf]

2010

• Daniel Göhring Constraint Based World Modeling for Multi Agent Systems in Dynamic Environments. In: KI - Künstliche Intelligenz, Volume 24, Number 4, 349-353, DOI: 10.1007/s13218-010-0049-8, Dissertationen und Habilitationen, Springer, 2010. [bib]

2009

• Dissertation: Constraint Based World Modeling for Multi Agent Systems in Dynamic Environments. [pdf] [bib]
• Göhring, D., Mellmann, H., Burkhard, H.-D. Constraint Based World Modeling in Mobile Robotics. In: Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, 2009. [bib]

2008

• Göhring, D., Mellmann, H., Gerasymova, K. Burkhard, H.-D. Constraint Based World Modeling. In: Fundamenta Informaticae, vol. 85, numer 1-4, pages 123-137, IOS-Press, 2008. [bib]
• Block, A., Göhring, D. Multi-Agent State and Dynamics Modeling Using Visual Percept Relations. In: Proceedings of Concurrency, Specification and Programming (CS&P), Gross Vaeter, Germany, 2008. [bib]
• Göhring, D., Mellmann, H., Burkhard, H.-D. Constraint Based Belief Modeling. In: RoboCup 2008: Robot Soccer World Cup XII, Beijing, China, Lecture Notes in Artificial Intelligence. Springer. [bib]
• Göhring, D., Mellmann, H., Burkhard, H.-D. Constraint Based Object State Modeling. In: European Robotics Symposium, Lecture Notes in Artificial Intelligence. Springer, Prague, Czech Republic, 2008. [bib]

2007

• Göhring, D., Burkhard, H.-D. Cooperatice World Modeling in Dynamic Multi-Robot Environments. In: Fundamenta Informaticae, vol. 75, numer 1-4, pages 281-294, IOS-Press, 2007. [bib]
• Göhring, D., Gerasymova, K., Burkhard, H.-D. Constraint Based World Modeling for Autonomous Robots In: Proceedings of Concurrency, Specification and Programming (CS&P), Lagow, Poland, 2007. [bib]
• Daniel Göhring Cooperative Object Localization Using Line-Based Percept Communication. In: RoboCup 2007: Robot Soccer World Cup XI, Atlanta, GA, USA, Lecture Notes in Artificial Intelligence. Springer, 2008. [bib]

2006

• Göhring, D., Burkhard, H.-D. Multi Robot Object Tracking and Self Localization Using Visual Percept Relations. In: Proceedings of IEEE/RSJ International Conference of Intelligent Robots and Systems (IROS), (pages 31-36), Beijing, China, 2006. [pdf] [bib]
• Daniel Göhring Distributed Object Modeling Using Object Relations in Dynamic Environments In: Proceedings of Concurrency, Specification and Programming (CS&P), Wandlitz, Germany, 2006. [bib]
• Göhring, D., Hoffmann, J. Sensor Modeling Using Visual-Object Relation in Multi Robot Object Tracking. In: RoboCup 2006: Robot Soccer World Cup X, Bremen, Germany, Lecture Notes in Artificial Intelligence. Springer, 2007. [pdf] [bib]
• Hoffmann, J., Spranger, M., Göhring, D., Jüngel, M. Further Studies on the Use of Negative Information in Mobile Robot Localization. In: Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Orlando, FL, USA, 2006. [pdf] [bib]

2005

• Hoffmann, J., Spranger, M., Göhring, D., Jüngel, M. Making Use Of What You Don't See: Negative Information In Markov Localization. . In: Proceedings of IEEE/RSJ International Conference of Intelligent Robots and Systems (IROS), Edmonton, AB, Canada, 2005. [pdf] [bib]
• Daniel Göhring Object Modeling in Dynamic Environments by Mobile Agents. In: Proceedings of Concurrency, Specification and Programming (CS&P), Ruciane, Poland, 2005. [pdf] [bib]
• Hoffmann, J., Spranger, M., Göhring, D., Jüngel, M. Negative Information and Proprioception in Monte Carlo Self-Localization for a 4-Legged Robots. Nineteenth International Joint Conference on Artificial Intelligence (IJCAI), Workshop on Agents in Real-Time and Dynamic Environments, Edinburgh, UK, 2005. [bib]
• Hoffmann, J., Spranger, M., Göhring, D., Jüngel, M. Exploiting the Unexpected: Negative Evidence Modeling and Proprioceptive Motion Modeling for Improved Markov Localization. In: 9th International Workshop on RoboCup, Osaka, Japan, (Robot World Cup Soccer Games and Conferences), Lecture Notes in Artificial Intelligence. Springer, 2005. [bib]

2004

• Diplomarbeit: Modellierung bewegter Objekte durch mobile Agenten. [pdf] [bib]
• Hoffmann, J., Göhring, D. Sensor-Actuator-Comparison as a Basis for Collision Detection for a Quadruped Robot. In: 8th International Workshop on RoboCup 2004, Lisboa, Portugal, (Robot World Cup Soccer Games and Conferences), Lecture Notes in Artificial Intelligence. Springer, 2005. [pdf] [bib]

2003

• Studienarbeit: Entwicklung einer Kollisionserkennung für den AIBO Roboter. [pdf]

Technical Reports

• Becker, D., Brose, J., Göhring, D., Jüngel, M., Risler, M., Röfer, T. German Team 2008 , The German National RoboCup Team. In: RoboCup 2008: Robot Soccer World Cup XII, Suzhou, China, Lecture Notes in Artificial Intelligence. Springer. [bib]
• Borisov., A., Curow, S., Ferdowsizadeh, A., Göhring, D., Hermann, T., Krause, T., Martius, M., Mellmann, H., Skelton, T., Welter, O. Nao-Team Humboldt 2008, The RoboCup Nao Team of the Humboldt-Universität zu Berlin. In: RoboCup 2008: Robot Soccer World Cup XII, Suzhou, China, Lecture Notes in Artificial Intelligence. Springer. [bib]
• Röfer, T., Brose, J., Göhring, D., Jüngel, M., Laue, T., Risler, M. German Team 2007, The German National RoboCup Team. In: RoboCup 2007: Robot Soccer World Cup XI, Atlanta, USA, Lecture Notes in Artificial Intelligence. Springer.

Miscellaneous

• Seminararbeit: CCD vs. CMOS - Eine vergleichende Betrachtung (2002) [pdf]
• Seminararbeit: Günter Grassmann - Leben und die Grassmannschen Gesetze (2002) [pdf]