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Papers and other Publications

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

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), 2023. [pdf]
• 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), 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]