# SusanneRadtke, M.Sc.

Phone: +49 721 608-45279
susanne radtkeRkj5∂kit edu

Adenauerring 2

Gebäude 50.20

D-76131 Karlsruhe

# Data Fusion in Networks Group

Our group is part of the Intelligent Sensor-Actuator-Systems (ISAS) Laboratory. We are interested in data fusion for networked multisensor systems including distributed and decentralized state estimation, Kalman filtering with event-based and asynchronous communication, and state estimation for large-scale systems.

In particular, we investigate:

## Robust Kalman filtering

• quantification of uncertainties
• combination of stochastic and unknown but bounded noise models

## Fusion under unknown dependencies

• conservative bounds on unknown correlations
• parameterization of dependencies in nonlinear estimation

## Large-scale state estimation

• estimation methods for spatially distributed systems
• fusion of heterogeneous estimates

## Estimation with communication constraints

• event-based state estimation
• filtering of quantized and asynchronous measurements

# BA/MA/Hiwi Topics

Offering Bachelor- and Mastertheses in:

• Sensor Network in industrial applications
• Robust Kalman filtering
• Estimation of large-scale phenomena
• Fusion under unknown dependencies
• Estimation with communication constraints

Initiative applications are always welcome as well.

Available Topics
Title Type Supervisor
Bachelor-/Masterthesis

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 2019 Gerhard Kurz, Igor Gilitschenski, Florian Pfaff, Lukas Drude, Uwe D. Hanebeck, Reinhold Haeb-Umbach, Roland Y. Siegwart, Directional Statistics and Filtering Using libDirectional (to appear),Journal of Statistical Software, 2019. BibTeX: @article{JSS19_Kurz, author = {Gerhard Kurz and Igor Gilitschenski and Florian Pfaff and Lukas Drude and Uwe D. Hanebeck and Reinhold Haeb-Umbach and Roland Y. Siegwart}, journal = {Journal of Statistical Software}, title = {Directional Statistics and Filtering Using libDirectional (to appear)}, year = {2019} }  Kailai Li, Daniel Frisch, Benjamin Noack, Uwe D. Hanebeck, Geometry-Driven Deterministic Sampling for Nonlinear Bingham Filtering (to appear),Proceedings of the 2019 European Control Conference (ECC 2019), Naples, Italy, June, 2019. BibTeX: @inproceedings{ECC19_Li, address = {Naples, Italy}, author = {Kailai Li and Daniel Frisch and Benjamin Noack and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2019 European Control Conference (ECC 2019)}, month = {June}, title = {Geometry-Driven Deterministic Sampling for Nonlinear Bingham Filtering (to appear)}, year = {2019} }  Susanne Radtke, Benjamin Noack, Uwe D. Hanebeck, Distributed Estimation with Unequal State Vectors using Deterministic Sample-based Fusion (to appear),Proceedings of the 2019 European Control Conference (ECC 2019), Naples, Italy, June, 2019. BibTeX: @inproceedings{ECC19_Radtke, address = {Naples, Italy}, author = {Susanne Radtke and Benjamin Noack and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2019 European Control Conference (ECC 2019)}, month = {June}, title = {Distributed Estimation with Unequal State Vectors using Deterministic Sample-based Fusion (to appear)}, year = {2019} }  Florian Rosenthal, Maxim Dolgov, Uwe D. Hanebeck, Sequence-Based Receding Horizon Control Over Networks with Delays and Data Losses (to appear),Proceedings of the 2019 American Control Conference (ACC 2019), Philadelphia, PA, USA, June, 2019. BibTeX: @inproceedings{ACC19_Rosenthal, address = {Philadelphia, PA, USA}, author = {Florian Rosenthal and Maxim Dolgov and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2019 American Control Conference (ACC 2019)}, month = {June}, title = {Sequence-Based Receding Horizon Control Over Networks with Delays and Data Losses (to appear)}, year = {2019} }  Jana Mayer, Maxim Dolgov, Tobias Stickling, Selim Özgen, Uwe D. Hanebeck, Stochastic Optimal Control Using Gaussian Process Regression Over Probability Distributions (to appear),Proceedings of the 2019 American Control Conference (ACC 2019), Philadelphia, PA, USA, June, 2019. BibTeX: @inproceedings{ACC19_Mayer, address = {Philadelphia, PA, USA}, author = {Jana Mayer and Maxim Dolgov and Tobias Stickling and Selim Özgen and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2019 American Control Conference (ACC 2019)}, month = {June}, title = {Stochastic Optimal Control Using Gaussian Process Regression Over Probability Distributions (to appear)}, year = {2019} }  Florian Rosenthal, Uwe D. Hanebeck, A Control Approach for Cooperative Sharing of Network Resources in Cyber-Physical Systems (to appear),Proceedings of the 2019 IEEE International Conference on Industrial Cyber-Physical Systems (ICPS 2019), Taipei, Republic of China, May, 2019. BibTeX: @inproceedings{ICPS19_Rosenthal, address = {Taipei, Republic of China}, author = {Florian Rosenthal and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2019 IEEE International Conference on Industrial Cyber-Physical Systems (ICPS 2019)}, month = {May}, title = {A Control Approach for Cooperative Sharing of Network Resources in Cyber-Physical Systems (to appear)}, year = {2019} }  Susanne Radtke, Kailai Li, Benjamin Noack, Uwe D. Hanebeck, Comparative Study of Track-to-Track Fusion Methods for Cooperative Tracking with Bearing-only Measurements (to appear),Proceedings of the 2019 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2019), Taipei, Republic of China, May, 2019. BibTeX: @inproceedings{MFI19_Radtke, address = {Taipei, Republic of China}, author = {Susanne Radtke and Kailai Li and Benjamin Noack and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2019 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2019)}, month = {May}, title = {Comparative Study of Track-to-Track Fusion Methods for Cooperative Tracking with Bearing-only Measurements (to appear)}, year = {2019} }  Kailai Li, Florian Pfaff, Uwe D. Hanebeck, Geometry-Driven Stochastic Modeling of SE(3) States Based on Dual Quaternion Representation (to appear),Proceedings of the 2019 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2019), Taipei, Republic of China, May, 2019. BibTeX: @inproceedings{MFI19_Li, address = {Taipei, Republic of China}, author = {Kailai Li and Florian Pfaff and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2019 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2019)}, month = {May}, title = {Geometry-Driven Stochastic Modeling of SE(3) States Based on Dual Quaternion Representation (to appear)}, year = {2019} }  Florian Pfaff, Kailai Li, Uwe D. Hanebeck, Association Likelihoods for Directional Estimation (to appear),Proceedings of the 2019 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2019), Taipei, Republic of China, May, 2019. BibTeX: @inproceedings{MFI19_Pfaff, address = {Taipei, Republic of China}, author = {Florian Pfaff and Kailai Li and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2019 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2019)}, month = {May}, title = {Association Likelihoods for Directional Estimation (to appear)}, year = {2019} }  Florian Rosenthal, Markus Jung, Martina Zitterbart, Uwe D. Hanebeck, CoCPN – Towards Flexible and Adaptive Cyber-Physical Systems Through Cooperation,Proceedings of the 2019 16th IEEE Annual Consumer Communications & Networking Conference (CCNC) (CCNC 2019), Las Vegas, USA, January, 2019. BibTeX: @inproceedings{CCNC19_Rosenthal, abstract = {This work is concerned with our ongoing research project CoCPN: Cooperative Cyber Physical Networking that has the goal to allow cooperation between control applications and the communication system that constitute cyber-physical systems. We describe the envisioned architecture of CoCPN and outline how it improves the flexibility of cyber-physical systems by cooperatively sharing a common network infrastructure. We also present our simulation tool CoCPN-Sim that we developed as a method to thoroughly investigate the interaction between control applications and the communication system. By providing the results of selected simulations using the well-known inverted pendulum, we identify potential aspects that can be exploited for cooperation and hence serve as starting points towards more flexible and adaptive cyber-physical systems.}, address = {Las Vegas, USA}, author = {Florian Rosenthal and Markus Jung and Martina Zitterbart and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2019 16th IEEE Annual Consumer Communications & Networking Conference (CCNC) (CCNC 2019)}, days = {11}, keywords = {Cyber-Physical Systems; Cooperation; Simulation; Event-Based Control}, month = {January}, pdf = {CCNC19_Rosenthal.pdf}, title = {CoCPN -- Towards Flexible and Adaptive Cyber-Physical Systems Through Cooperation}, year = {2019} }  2018 Florian Rosenthal, Benjamin Noack, Uwe D. Hanebeck, State Estimation in Networked Control Systems with Delayed and Lossy Acknowledgments,Multisensor Fusion and Integration in the Wake of Big Data, Deep Learning and Cyber Physical System, pp. 22–38, Springer International Publishing, Cham, 2018. BibTeX: @incollection{LNEE18_Rosenthal, abstract = {In this article, we are concerned with state estimation in Networked Control Systems where both control inputs and measurements are transmitted over networks which are lossy and introduce random transmission delays. We focus on the case where acknowledgment packets transmitted by the actuator upon reception of applicable control inputs are also subject to delays and losses, as opposed to the common notion of TCP-like communication where successful transmissions are acknowledged instantaneously and without losses. As a consequence, the state estimator in the considered setup has only partial and belated knowledge concerning the actually applied control inputs which results in additional uncertainty. We derive an estimator by extending an existing approach for the special case of UDP-like communication which maintains estimates of the applied control inputs that are incorporated into the estimation of the plant state. The presented estimator is compared to the original approach in terms of Monte Carlo simulations where its increased robustness towards imperfect knowledge of the underlying networks is indicated.}, address = {Cham}, author = {Florian Rosenthal and Benjamin Noack and Uwe D. Hanebeck}, booktitle = {Multisensor Fusion and Integration in the Wake of Big Data, Deep Learning and Cyber Physical System}, doi = {https://doi.org/10.1007/978-3-319-90509-9_2}, editor = {Sukhan Lee and Hanseok Ko and Songhwai Oh}, isbn = {978-3-319-90509-9}, pages = {22--38}, publisher = {Springer International Publishing}, title = {State Estimation in Networked Control Systems with Delayed and Lossy Acknowledgments}, url = {https://link.springer.com/chapter/10.1007/978-3-319-90509-9_2}, year = {2018} }  Maxim Dolgov, Uwe D. Hanebeck, A Distance-based Framework for Gaussian Processes over Probability Distributions,arXiv preprint arXiv:1809.09193, 2018. BibTeX: @article{arXiv18_Dolgov, author = {Maxim Dolgov and Uwe D. Hanebeck}, journal = {arXiv preprint arXiv:1809.09193}, title = {A Distance-based Framework for Gaussian Processes over Probability Distributions}, url = {https://arxiv.org/abs/1809.09193}, year = {2018} }  Christoph Pieper, Florian Pfaff, Georg Maier, Harald Kruggel-Emden, Siegmar Wirtz, Benjamin Noack, Robin Gruna, Viktor Scherer, Uwe D. Hanebeck, Thomas Längle, Jürgen Beyerer, Numerical Modelling of an Optical Belt Sorter Using a DEM–CFD Approach Coupled with a Particle Tracking Algorithm and Comparison with Experiments,Powder Technology, December, 2018. BibTeX: @article{PowTec18_Pieper, abstrct = {State-of-the-art optical sorting systems suffer from delays between the particle detection and separation stage, during which the material movement is not accounted for. Commonly line scan cameras, using simple assumptions to predict the future particle movement, are employed. In this study, a novel prediction approach is presented, where an area scan camera records the particle movement over multiple time steps and a tracking algorithm is used to reconstruct the corresponding paths to determine the time and position at which the material reaches the separation stage. In order to assess the benefit of such a model at different operating parameters, an automated optical belt sorter is numerically modelled and coupled with the tracking procedure. The Discrete Element Method (DEM) is used to describe the particle–particle as well as particle–wall interactions, while the air nozzles required for deflecting undesired material fractions are described with Computational Fluid Dynamics (CFD). The accuracy of the employed numerical approach is ensured by comparing the separation results of a predefined sorting task with experimental investigations. The quality of the aforementioned prediction models is compared when utilizing different belt lengths, nozzle activation durations, particle types, sampling frequencies and detection windows. Results show that the numerical model of the optical belt sorter is able to accurately describe the sorting system and is suitable for detailed investigation of various operational parameters. The proposed tracking prediction model was found to be superior to the common line scan camera method in all investigated scenarios. Its advantage is especially profound when difficult sorting conditions, e.g. short conveyor belt lengths or uncooperative moving bulk solids, apply.}, author = {Christoph Pieper and Florian Pfaff and Georg Maier and Harald Kruggel-Emden and Siegmar Wirtz and Benjamin Noack and Robin Gruna and Viktor Scherer and Uwe D. Hanebeck and Thomas Längle and Jürgen Beyerer}, doi = {10.1016/j.powtec.2018.09.003}, journal = {Powder Technology}, month = {December}, title = {Numerical Modelling of an Optical Belt Sorter Using a DEM–CFD Approach Coupled with a Particle Tracking Algorithm and Comparison with Experiments}, url = {https://doi.org/10.1016/j.powtec.2018.09.003}, year = {2018} }  Kailai Li, Daniel Frisch, Susanne Radtke, Benjamin Noack, Uwe D. Hanebeck, Wavefront Orientation Estimation Based on Progressive Bingham Filtering,Proceedings of the IEEE ISIF Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF 2018), October, 2018. BibTeX: @inproceedings{SDF18_Li, abstrct = {In this paper, we propose the Progressive Bingham Filter (PBF), a novel stochastic filtering algorithm for nonlinear spatial orientation estimation. As an extension of the orientation filter previously proposed only for the identity measurement model based on the Bingham distribution, our method is able to handle arbitrary measurement models. Instead of the sampling- approximation scheme used in the prediction step, a closed- form solution is possible when the system equation is based on the Hamilton product. Besides stochastic approaches, we also introduce the Spherical Averaging Method (SAM), which is an application of the Riemannian averaging technique. The two approaches are then applied to a specific problem where the wavefront orientation is estimated based on Time Differences of Arrival (TDOA) and evaluated in simulations. The results show theoretical competitiveness of the PBF.}, author = {Kailai Li and Daniel Frisch and Susanne Radtke and Benjamin Noack and Uwe D. Hanebeck}, booktitle = {Proceedings of the IEEE ISIF Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF 2018)}, month = {October}, pdf = {SDF18_Li.pdf}, title = {Wavefront Orientation Estimation Based on Progressive Bingham Filtering}, year = {2018} }  Uwe D. Hanebeck, FLUX: Progressive State Estimation Based on Zakai-type Distributed Ordinary Differential Equations,arXiv preprint: Systems and Control (cs.SY), August, 2018. BibTeX: @article{arXiv18_Hanebeck, abstract = {We propose a homotopy continuation method called FLUX for approximating complicated probability density functions. It is based on progressive processing for smoothly morphing a given density into the desired one. Distributed ordinary differential equations (DODEs) with an artificial time $γ∈[0,1]$ are derived for describing the evolution from the initial density to the desired final density. For a finite-dimensional parametrization, the DODEs are converted to a system of ordinary differential equations (SODEs), which are solved for $γ∈[0,1]$ and return the desired result for $\gamma=1$. This includes parametric representations such as Gaussians or Gaussian mixtures and nonparametric setups such as sample sets. In the latter case, we obtain a particle flow between the two densities along the artificial time. FLUX is applied to state estimation in stochastic nonlinear dynamic systems by gradual inclusion of measurement information. The proposed approximation method (1) is fast, (2) can be applied to arbitrary nonlinear systems and is not limited to additive noise, (3) allows for target densities that are only known at certain points, (4) does not require optimization, (5) does not require the solution of partial differential equations, and (6) works with standard procedures for solving SODEs. This manuscript is limited to the one-dimensional case and a fixed number of parameters during the progression. Future extensions will include consideration of higher dimensions and on the fly adaption of the number of parameters.}, author = {Uwe D. Hanebeck}, journal = {arXiv preprint: Systems and Control (cs.SY)}, month = {August}, title = {FLUX: Progressive State Estimation Based on Zakai-type Distributed Ordinary Differential Equations}, url = {http://arxiv.org/abs/1808.02825}, year = {2018} }  Selim Özgen, Marco F. Huber, Florian Rosenthal, Jana Mayer, Benjamin Noack, Uwe D. Hanebeck, Retrodiction of Data Association Probabilities via Convex Optimization,Proceedings of the 21st International Conference on Information Fusion (Fusion 2018), Cambridge, United Kingdom, July, 2018. BibTeX: @inproceedings{Fusion18_Oezgen, address = {Cambridge, United Kingdom}, author = {Selim Özgen and Marco F. Huber and Florian Rosenthal and Jana Mayer and Benjamin Noack and Uwe D. Hanebeck}, booktitle = {Proceedings of the 21st International Conference on Information Fusion (Fusion 2018)}, month = {July}, pdf = {Fusion18_Oezgen.pdf}, title = {Retrodiction of Data Association Probabilities via Convex Optimization}, year = {2018} }  Susanne Radtke, Benjamin Noack, Uwe D. Hanebeck, Ondřej Straka, Reconstruction of Cross-Correlations with Constant Number of Deterministic Samples,Proceedings of the 21st International Conference on Information Fusion (Fusion 2018), Cambridge, United Kingdom, July, 2018. BibTeX: @inproceedings{Fusion18_Radtke, abstract = {Optimal fusion of estimates that are computed in a distributed fashion is a challenging task. In general, the sensor nodes cannot keep track of the cross-correlations required to fuse estimates optimally. In this paper, a novel technique is presented that provides the means to reconstruct the required correlation structure. For this purpose, each node computes a set of deterministic samples that provides all the information required to reassemble the cross-covariance matrix for each pair of estimates. As the number of samples is increasing over time, a method to reduce the size of the sample set is presented and studied. In doing so, communication expenses can be reduced significantly, but approximation errors are possibly introduced by neglecting past correlation terms. In order to keep approximation errors at a minimum, an appropriate set size can be determined and a trade-off between communication expenses and estimation quality can be found.}, address = {Cambridge, United Kingdom}, author = {Susanne Radtke and Benjamin Noack and Uwe D. Hanebeck and Ondřej Straka}, booktitle = {Proceedings of the 21st International Conference on Information Fusion (Fusion 2018)}, month = {July}, pdf = {Fusion18_Radtke.pdf}, title = {Reconstruction of Cross-Correlations with Constant Number of Deterministic Samples}, year = {2018} }  Kailai Li, Gerhard Kurz, Lukas Bernreiter, Uwe D. Hanebeck, Nonlinear Progressive Filtering for SE(2) Estimation,Proceedings of the 21st International Conference on Information Fusion (Fusion 2018), Cambridge, United Kingdom, July, 2018. BibTeX: @inproceedings{Fusion18_Li-SE2, address = {Cambridge, United Kingdom}, author = {Kailai Li and Gerhard Kurz and Lukas Bernreiter and Uwe D. Hanebeck}, booktitle = {Proceedings of the 21st International Conference on Information Fusion (Fusion 2018)}, month = {July}, pdf = {Fusion18_Li-SE2.pdf}, title = {Nonlinear Progressive Filtering for SE(2) Estimation}, year = {2018} }  Kailai Li, Gerhard Kurz, Lukas Bernreiter, Uwe D. Hanebeck, Simultaneous Localization and Mapping Using a Novel Dual Quaternion Particle Filter,Proceedings of the 21st International Conference on Information Fusion (Fusion 2018), Cambridge, United Kingdom, July, 2018. BibTeX: @inproceedings{Fusion18_Li-SLAM, address = {Cambridge, United Kingdom}, author = {Kailai Li and Gerhard Kurz and Lukas Bernreiter and Uwe D. Hanebeck}, booktitle = {Proceedings of the 21st International Conference on Information Fusion (Fusion 2018)}, month = {July}, pdf = {Fusion18_Li-SLAM.pdf}, title = {Simultaneous Localization and Mapping Using a Novel Dual Quaternion Particle Filter}, year = {2018} }  Mikhail Aristov, Benjamin Noack, Uwe D. Hanebeck, Jörn Müller-Quade, Encrypted Multisensor Information Filtering,Proceedings of the 21st International Conference on Information Fusion (Fusion 2018), Cambridge, United Kingdom, July, 2018. BibTeX: @inproceedings{Fusion18_Aristov, abstract = {With the advent of cheap sensor technology, multisensor data fusion algorithms have been becoming a key enabler for efficient in-network processing of sensor data. The information filter, in particular, has proven useful due to its simple additive structure of the measurement update equations. In order to exploit this structure for an efficient in-network processing, each node in the network is supposed to locally process and combine data from its neighboring nodes. The aspired in-network processing, at first glance, prohibits efficient privacy-preserving communication protocols, and encryption schemes that allow for algebraic manipulations are often computationally too expensive. Partially homomorphic encryption schemes constitute far more practical solutions but are restricted to a single algebraic operation on the corresponding ciphertexts. In this paper, an additive-homomorphic encryption scheme is used to derive a privacy-preserving implementation of the information filter where additive operations are sufficient to distribute the workload among the sensor nodes. However, the encryption scheme requires the floating-point data to be quantized, which impairs the estimation quality. The proposed filter and the implications of the necessary quantization are analyzed in a simulated multisensor tracking scenario.}, address = {Cambridge, United Kingdom}, author = {Mikhail Aristov and Benjamin Noack and Uwe D. Hanebeck and Jörn Müller-Quade}, booktitle = {Proceedings of the 21st International Conference on Information Fusion (Fusion 2018)}, month = {July}, pdf = {Fusion18_Aristov.pdf}, title = {Encrypted Multisensor Information Filtering}, year = {2018} }  Fabian Sigges, Christoph Rauterberg, Marcus Baum, Uwe D. Hanebeck, An Ensemble Kalman Filter for Feature-Based SLAM with Unknown Associations,Proceedings of the 21st International Conference on Information Fusion (Fusion 2018), Cambridge, United Kingdom, July, 2018. BibTeX: @inproceedings{Fusion18_Sigges, address = {Cambridge, United Kingdom}, author = {Fabian Sigges and Christoph Rauterberg and Marcus Baum and Uwe D. Hanebeck}, booktitle = {Proceedings of the 21st International Conference on Information Fusion (Fusion 2018)}, month = {July}, pdf = {Fusion18_Sigges.pdf}, title = {An Ensemble Kalman Filter for Feature-Based SLAM with Unknown Associations}, year = {2018} }  Jindřich Havlík, Ondřej Straka, Uwe D. Hanebeck, Stochastic Integration Filter: Theoretical and Implementation Aspects,Proceedings of the 21st International Conference on Information Fusion (Fusion 2018), Cambridge, United Kingdom, July, 2018. BibTeX: @inproceedings{Fusion18_Havlik, address = {Cambridge, United Kingdom}, author = {Jindřich Havlík and Ondřej Straka and Uwe D. Hanebeck}, booktitle = {Proceedings of the 21st International Conference on Information Fusion (Fusion 2018)}, month = {July}, pdf = {Fusion18_Havlik.pdf}, title = {Stochastic Integration Filter: Theoretical and Implementation Aspects}, year = {2018} }  Qi Wang, Zhansheng Duan, Xiao-Rong Li, Uwe D. Hanebeck, Convex Combination for Source Localization Using Received Signal Strength Measurements,Proceedings of the 21st International Conference on Information Fusion (Fusion 2018), Cambridge, United Kingdom, July, 2018. BibTeX: @inproceedings{Fusion18_Wang, address = {Cambridge, United Kingdom}, author = {Qi Wang and Zhansheng Duan and Xiao-Rong Li and Uwe D. Hanebeck}, booktitle = {Proceedings of the 21st International Conference on Information Fusion (Fusion 2018)}, month = {July}, pdf = {Fusion18_Wang.pdf}, title = {Convex Combination for Source Localization Using Received Signal Strength Measurements}, year = {2018} }  Jindřich Dunı́k, Ondřej Straka, Benjamin Noack, Jannik Steinbring, Uwe D. Hanebeck, On Directional Splitting of Gaussian Density in Nonlinear Random Variable Transformation,IET Signal Processing, 12(9):1073–1081, July, 2018. BibTeX: @article{IETSP2018_Dunik, abstract = {Transformation of a random variable is a common need in a design of many algorithms in signal processing, automatic control, and fault detection. Typically, the design is tied to an assumption on a probability density function of the random variable, often in the form of the Gaussian distribution. The assumption may be, however, difficult to be met in algorithms involving nonlinear transformation of the random variable. This paper focuses on techniques capable to ensure validity of the Gaussian assumption of the nonlinearly transformed Gaussian variable by approximating the to-be-transformed random variable distribution by a Gaussian mixture distribution. The stress is laid on an analysis and selection of design parameters of the approximate Gaussian mixture distribution to minimise the error imposed by the nonlinear transformation such as the location and number of the Gaussian mixture terms. A special attention is devoted to the definition of the novel Gaussian mixture splitting directions based on the measures of non-Gaussianity. The proposed splitting directions are analysed and illustrated in numerical simulations.}, author = {Jindřich Dunı́k and Ondřej Straka and Benjamin Noack and Jannik Steinbring and Uwe D. Hanebeck}, doi = {10.1049/iet-spr.2017.0286}, issn = {1751-9683}, journal = {IET Signal Processing}, month = {July}, number = {9}, pages = {1073-1081}, title = {On Directional Splitting of Gaussian Density in Nonlinear Random Variable Transformation}, url = {http://digital-library.theiet.org/content/journals/10.1049/iet-spr.2017.0286}, volume = {12}, year = {2018} }  Maxim Dolgov, Gerhard Kurz, Daniela Grimm, Uwe D. Hanebeck, Florian Rosenthal, Stochastic Optimal Control Using Local Sample-Based Value Function Approximation,Proceedings of the 2018 American Control Conference (ACC 2018), Milwaukee, Wisconsin, USA, June, 2018. BibTeX: @inproceedings{ACC18_Dolgov, address = {Milwaukee, Wisconsin, USA}, author = {Maxim Dolgov and Gerhard Kurz and Daniela Grimm and Uwe D. Hanebeck and Florian Rosenthal}, booktitle = {Proceedings of the 2018 American Control Conference (ACC 2018)}, month = {June}, pdf = {ACC18_Dolgov.pdf}, title = {Stochastic Optimal Control Using Local Sample-Based Value Function Approximation}, year = {2018} }  Gerhard Kurz, Uwe D. Hanebeck, Improved Progressive Gaussian Filtering Using LRKF Priors,Proceedings of the 2018 American Control Conference (ACC 2018), Milwaukee, Wisconsin, USA, June, 2018. BibTeX: @inproceedings{ACC18_Kurz, address = {Milwaukee, Wisconsin, USA}, author = {Gerhard Kurz and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2018 American Control Conference (ACC 2018)}, month = {June}, pdf = {ACC18_Kurz-PGF.pdf}, title = {Improved Progressive Gaussian Filtering Using LRKF Priors}, year = {2018} }  Florian Rosenthal, Benjamin Noack, Uwe D. Hanebeck, Scheduling of Measurement Transmission in Networked Control Systems Subject to Communication Constraints,Proceedings of the 2018 American Control Conference (ACC 2018), Milwaukee, Wisconsin, USA, June, 2018. BibTeX: @inproceedings{ACC18_Rosenthal, address = {Milwaukee, Wisconsin, USA}, author = {Florian Rosenthal and Benjamin Noack and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2018 American Control Conference (ACC 2018)}, month = {June}, pdf = {ACC18_Rosenthal.pdf}, title = {Scheduling of Measurement Transmission in Networked Control Systems Subject to Communication Constraints}, year = {2018} }  Katharina Dormann, Benjamin Noack, Uwe D. Hanebeck, Optimally Distributed Kalman Filtering with Data-Driven Communication,Sensors, April, 2018. BibTeX: @article{Sensors2018_Dormann, abstract = {For multisensor data fusion, distributed state estimation techniques that enable a local processing of sensor data are the means of choice in order to minimize storage and communication costs. In particular, a distributed implementation of the optimal Kalman filter has recently been developed. A significant disadvantage of this algorithm is that the fusion center needs access to each node so as to compute a consistent state estimate, which requires full communication each time an estimate is requested. In this article, different extensions of the optimally distributed Kalman filter are proposed that employ data-driven transmission schemes in order to reduce communication expenses. As a first relaxation of the full-rate communication scheme, it can be shown that each node only has to transmit every second time step without endangering consistency of the fusion result. Also, two data-driven algorithms are introduced that even allow for lower transmission rates, and bounds are derived to guarantee consistent fusion results. Simulations demonstrate that the data-driven distributed filtering schemes can outperform a centralized Kalman filter that requires each measurement to be sent to the center node.}, author = {Katharina Dormann and Benjamin Noack and Uwe D. Hanebeck}, doi = {10.3390/s18041034}, issn = {1424-8220}, journal = {Sensors}, month = {April}, number = {4}, pdf = {Sensors18_Dormann.pdf}, title = {Optimally Distributed Kalman Filtering with Data-Driven Communication}, url = {http://www.mdpi.com/1424-8220/18/4/1034}, volume = {18}, year = {2018} }  Markus Jung, Florian Rosenthal, Martina Zitterbart, Poster Abstract: CoCPN-Sim: An Integrated Simulation Environment for Cyber-Physical Systems,Proceedings of the 2018 IEEE/ACM Third International Conference on Internet-of-Things Design and Implementation (IoTDI), Orlando, FL, USA, April, 2018. Best Poster Award Runner-Up BibTeX: @inproceedings{IoTDI18_Jung, address = {Orlando, FL, USA}, annote = {Best Poster Award Runner-Up}, author = {Markus Jung and Florian Rosenthal and Martina Zitterbart}, booktitle = {Proceedings of the 2018 IEEE/ACM Third International Conference on Internet-of-Things Design and Implementation (IoTDI)}, month = {April}, title = {Poster Abstract: CoCPN-Sim: An Integrated Simulation Environment for Cyber-Physical Systems}, year = {2018} }  Uwe D. Hanebeck, Marcus Baum, Marco F. Huber (Eds.), Guest Editorial Special Section on Multisensor Fusion and Integration for Intelligent Systems,IEEE Transactions on Industrial Informatics, IEEE Transactions on Industrial Informatics, 14(3), March, 2018. BibTeX: @proceedings{TII18_Hanebeck, address = {IEEE Transactions on Industrial Informatics, 14(3)}, editor = {Uwe D. Hanebeck and Marcus Baum and Marco F. Huber}, journal = {IEEE Transactions on Industrial Informatics}, month = {March}, title = {Guest Editorial Special Section on Multisensor Fusion and Integration for Intelligent Systems}, volume = {14}, year = {2018} }  Georg Maier, Florian Pfaff, Christoph Pieper, Robin Gruna, Benjamin Noack, Harald Kruggel-Emden, Thomas Längle, Uwe D. Hanebeck, Siegmar Wirtz, Viktor Scherer, Jürgen Beyerer, Application of Area-Scan Sensors in Sensor-Based Sorting,Proceedings of the Eighth Conference on Sensor-Based Sorting & Control 2018 (SBSC 2018), Aachen, Germany, March, 2018. BibTeX: @inproceedings{SBSC18_Maier, abstract = {In the field of machine vision, sensor-based sorting is an important real-time application that enables the separation of a material feed into different classes. While state-of-the-art systems utilize scanning sensors such as line-scan cameras, advances in sensor technology have made application of area scanning sensors feasible. Provided a sufficiently high frame rate, objects can be observed at multiple points in time. By applying multiobject tracking, information about the objects contained in the material stream can be fused over time. Based on this information, our approach further allows predicting the position of each object for future points in time. While conventional systems typically apply a global, rather simple motion model, our approach includes an individual motion model for each object, which in turn allows estimating the point in time as well as the position when reaching the separation stage. In this contribution, we present results from our collaborative research project and summarize the present advances by discussing the potential of the application of area-scan sensors for sensor-based sorting. Among others, we introduce our simulation-driven approach and present results for physical separation efficiency for simulation-generated data, demonstrate the potential of using motion-based features for material classification and discuss real-time related challenges.}, address = {Aachen, Germany}, author = {Georg Maier and Florian Pfaff and Christoph Pieper and Robin Gruna and Benjamin Noack and Harald Kruggel-Emden and Thomas Längle and Uwe D. Hanebeck and Siegmar Wirtz and Viktor Scherer and Jürgen Beyerer}, booktitle = {Proceedings of the Eighth Conference on Sensor-Based Sorting & Control 2018 (SBSC 2018)}, month = {March}, pdf = {SBSC18_Maier.pdf}, title = {Application of Area-Scan Sensors in Sensor-Based Sorting}, year = {2018} }  Gerhard Kurz, Florian Pfaff, Uwe D. Hanebeck, Application of Discrete Recursive Bayesian Estimation on Intervals and the Unit Circle to Filtering on SE(2),IEEE Transactions on Industrial Informatics, 14(3):1197–1206, March, 2018. BibTeX: @article{TII18_Kurz, author = {Gerhard Kurz and Florian Pfaff and Uwe D. Hanebeck}, journal = {IEEE Transactions on Industrial Informatics}, month = {March}, number = {3}, pages = {1197-1206}, pdf = {TII18_Kurz-DiscreteFiltering.pdf}, title = {Application of Discrete Recursive Bayesian Estimation on Intervals and the Unit Circle to Filtering on SE(2)}, url = {https://doi.org/10.1109/TII.2017.2757011}, volume = {14}, year = {2018} }  2017 Antonio Zea, Florian Faion, Marcus Baum, Uwe D. Hanebeck, Level-Set Random Hypersurface Models for Tracking Non-Convex Extended Objects,IEEE Transactions on Aerospace and Electronic Systems, 2017. BibTeX: @article{TAES17_Zea, abstract = {This paper presents a novel approach to track a non-convex shape approximation of an extended target based on noisy point measurements. For this purpose, a novel type of Random Hypersurface Model (RHM), called Level-set RHM is introduced that models the interior of a shape with level-sets of an implicit function. Based on the Level-set RHM, a nonlinear measurement equation can be derived that allows to employ a standard Gaussian state estimator for tracking an extended object even in scenarios with moderate measurement noise. In this paper, shapes are described using polygons and shape regularization is applied using ideas from active contour models.}, author = {Antonio Zea and Florian Faion and Marcus Baum and Uwe D. Hanebeck}, journal = {IEEE Transactions on Aerospace and Electronic Systems}, title = {Level-Set Random Hypersurface Models for Tracking Non-Convex Extended Objects}, url = {https://ieeexplore.ieee.org/document/6641216/}, year = {2017} }  Gerhard Kurz, Uwe D. Hanebeck, Linear Regression Kalman Filtering Based on Hyperspherical Deterministic Sampling,Proceedings of the 56th IEEE Conference on Decision and Control (CDC 2017), Melbourne, Australia, December, 2017. BibTeX: @inproceedings{CDC17_Kurz, address = {Melbourne, Australia}, author = {Gerhard Kurz and Uwe D. Hanebeck}, booktitle = {Proceedings of the 56th IEEE Conference on Decision and Control (CDC 2017)}, month = {December}, pdf = {CDC17_Kurz-HSKF.pdf}, title = {Linear Regression Kalman Filtering Based on Hyperspherical Deterministic Sampling}, year = {2017} }  Gerhard Kurz, Igor Gilitschenski, Florian Pfaff, Lukas Drude, Uwe D. Hanebeck, Reinhold Haeb-Umbach, Roland Y. Siegwart, Directional Statistics and Filtering Using libDirectional,arXiv preprint: Computation (stat.CO), December, 2017. BibTeX: @article{arXiv17_Kurz, abstract = {In this paper, we present libDirectional, a MATLAB library for directional statistics and directional estimation. It supports a variety of commonly used distributions on the unit circle, such as the von Mises, wrapped normal, and wrapped Cauchy distributions. Furthermore, various distributions on higher-dimensional manifolds such as the unit hypersphere and the hypertorus are available. Based on these distributions, several recursive filtering algorithms in libDirectional allow estimation on these manifolds. The functionality is implemented in a clear, well-documented, and object-oriented structure that is both easy to use and easy to extend.}, author = {Gerhard Kurz and Igor Gilitschenski and Florian Pfaff and Lukas Drude and Uwe D. Hanebeck and Reinhold Haeb-Umbach and Roland Y. Siegwart}, journal = {arXiv preprint: Computation (stat.CO)}, month = {December}, title = {Directional Statistics and Filtering Using libDirectional}, url = {https://arxiv.org/abs/1712.09718}, year = {2017} }  Georg Maier, Florian Pfaff, Matthias Wagner, Christoph Pieper, Robin Gruna, Benjamin Noack, Harald Kruggel-Emden, Thomas Längle, Uwe D. Hanebeck, Siegmar Wirtz, Viktor Scherer, Jürgen Beyerer, Real-Time Multitarget Tracking for Sensor-Based Sorting,Journal of Real-Time Image Processing, November, 2017. BibTeX: @article{RTIP17_Maier, abstract = {Utilizing parallel algorithms is an established way of increasing performance in systems that are bound to real-time restrictions. Sensor-based sorting is a machine vision application for which firm real-time requirements need to be respected in order to reliably remove potentially harmful entities from a material feed. Recently, employing a predictive tracking approach using multitarget tracking in order to decrease the error in the physical separation in optical sorting has been proposed. For implementations that use hard associations between measurements and tracks, a linear assignment problem has to be solved for each frame recorded by a camera. The auction algorithm can be utilized for this purpose, which also has the advantage of being well suited for parallel architectures. In this paper, an improved implementation of this algorithm for a graphics processing unit (GPU) is presented. The resulting algorithm is implemented in both an OpenCL and a CUDA based environment. By using an optimized data structure, the presented algorithm outperforms recently proposed implementations in terms of speed while retaining the quality of output of the algorithm. Furthermore, memory requirements are significantly decreased, which is important for embedded systems. Experimental results are provided for two different GPUs and six datasets. It is shown that the proposed approach is of particular interest for applications dealing with comparatively large problem sizes.}, author = {Georg Maier and Florian Pfaff and Matthias Wagner and Christoph Pieper and Robin Gruna and Benjamin Noack and Harald Kruggel-Emden and Thomas Längle and Uwe D. Hanebeck and Siegmar Wirtz and Viktor Scherer and Jürgen Beyerer}, doi = {10.1007/s11554-017-0735-y}, journal = {Journal of Real-Time Image Processing}, month = {November}, title = {Real-Time Multitarget Tracking for Sensor-Based Sorting}, url = {https://doi.org/10.1007/s11554-017-0735-y}, year = {2017} }  Katharina Dormann, Benjamin Noack, Uwe D. Hanebeck, Distributed Kalman Filtering With Reduced Transmission Rate,Proceedings of the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017), Daegu, Republic of Korea, November, 2017. BibTeX: @inproceedings{MFI17_Dormann, abstract = {The centralized Kalman filter can be implemented in such a way that the required calculations can be distributed over multiple nodes in a network, each of which processes only the locally acquired sensor data. The main downside of this implementation is that it requires each distributed sensor node to communicate with the fusion center in every time step so as to compute the optimal state estimate. In this paper, two distributed Kalman filtering algorithms are proposed to overcome these limitations. The first algorithm merely requires communication of each local sensor node with the fusion center in every other time step. The second algorithm even allows for a lower communicate rate. Both algorithms apply event-based communication to compute consistent estimates and to reduce the estimation error for a fixed communication rate. Simulations demonstrate that both algorithms perform better in terms of the mean squared estimation error than the centralized Kalman filter.}, address = {Daegu, Republic of Korea}, author = {Katharina Dormann and Benjamin Noack and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017)}, month = {November}, pdf = {MFI17_Dormann.pdf}, title = {Distributed Kalman Filtering With Reduced Transmission Rate}, year = {2017} }  Florian Pfaff, Gerhard Kurz, Christoph Pieper, Georg Maier, Benjamin Noack, Harald Kruggel-Emden, Robin Gruna, Uwe D. Hanebeck, Siegmar Wirtz, Viktor Scherer, Thomas Längle, Jürgen Beyerer, Improving Multitarget Tracking Using Orientation Estimates for Sorting Bulk Materials,Proceedings of the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017), Daegu, Republic of Korea, November, 2017. BibTeX: @inproceedings{MFI17_Pfaff, abstract = {Optical belt sorters can be used to sort a large variety of bulk materials. By the use of sophisticated algo- rithms, the performance of the complex machinery can be further improved. Recently, we have proposed an extension to industrial optical belt sorters that involves tracking the individual particles on the belt using an area scan camera. If the estimated behavior of the particles matches the true behavior, the reliability of the separation process can be improved. The approach relies on multitarget tracking using hard association decisions between the tracks and the measurements. In this paper, we propose to include the orientation in the assessment of the compatibility of a track and a measurement. This allows us to achieve more reliable associations, facilitating a higher accuracy of the tracking results.}, address = {Daegu, Republic of Korea}, author = {Florian Pfaff and Gerhard Kurz and Christoph Pieper and Georg Maier and Benjamin Noack and Harald Kruggel-Emden and Robin Gruna and Uwe D. Hanebeck and Siegmar Wirtz and Viktor Scherer and Thomas Längle and Jürgen Beyerer}, booktitle = {Proceedings of the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017)}, month = {November}, pdf = {MFI17_Pfaff.pdf}, title = {Improving Multitarget Tracking Using Orientation Estimates for Sorting Bulk Materials}, year = {2017} }  Florian Pfaff, Gerhard Kurz, Uwe D. Hanebeck, Filtering on the Unit Sphere Using Spherical Harmonics,Proceedings of the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017), Daegu, Republic of Korea, November, 2017. BibTeX: @inproceedings{MFI17_Pfaff-SphericalHarmonics, abstract = {For manifolds with topologies that strongly differ from the standard topology of R^n, using common filters created for linear domains can yield misleading results. While there is a lot of ongoing research on estimation on the unit circle, higher-dimensional problems particularly pose a challenge. One important generalization of the unit circle is the unit hypersphere. In this paper, we propose a recursive Bayesian estimator for the unit sphere S^2 based on spherical harmonics for arbitrary likelihood functions and rotationally symmetric system noises. In our evaluation, the proposed filter outperforms the particle filter in a target tracking scenario on the sphere.}, address = {Daegu, Republic of Korea}, author = {Florian Pfaff and Gerhard Kurz and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017)}, month = {November}, pdf = {MFI17_Pfaff-SphericalHarmonics.pdf}, title = {Filtering on the Unit Sphere Using Spherical Harmonics}, year = {2017} }  Gerhard Kurz, Florian Pfaff, Uwe D. Hanebeck, Discretization of SO(3) Using Recursive Tesseract Subdivision,Proceedings of the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017), Daegu, Republic of Korea, November, 2017. BibTeX: @inproceedings{MFI17_Kurz, abstract = { The group of rotations in three dimensions SO(3) plays a crucial role in applications ranging from robotics and aeronautics to computer graphics. Rotations have three degrees of freedom, but representing rotations is a nontrivial matter and different methods, such as Euler angles, quaternions, rotation matrices, and Rodrigues vectors are commonly used. Unfortunately, none of these representations allows easy discretization of orientations on evenly spaced grids. We present a novel discretization method that is based on a quaternion representation in conjunction with a recursive subdivision scheme of the four-dimensional hypercube, also known as the tesseract.}, address = {Daegu, Republic of Korea}, author = {Gerhard Kurz and Florian Pfaff and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017)}, month = {November}, pdf = {MFI17_Kurz-Tesseract.pdf}, title = {Discretization of SO(3) Using Recursive Tesseract Subdivision}, year = {2017} }  Florian Rosenthal, Benjamin Noack, Uwe D. Hanebeck, State Estimation in Networked Control Systems With Delayed And Lossy Acknowledgments,Proceedings of the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017), Daegu, Republic of Korea, November, 2017. BibTeX: @inproceedings{MFI17_Rosenthal, abstract = {In this paper, we consider state estimation in Networked Control Systems where both control inputs and measurements are transmitted via networks which are lossy and introduce random transmission delays. In contrast to the common notion of TCP-like communication, where successful transmissions are acknowledged instantaneously and without losses, we focus on the case where the acknowledgment packets provided by the actuator upon reception of applicable control inputs are also subject to delays and losses. Consequently, the estimator has only partial and belated knowledge on the actually applied control inputs, which results in additional uncertainty. We derive an estimator for the considered setup by generalizing an existing approach for UDP-like communication which integrates estimates of the applied control inputs into the overall state estimation. The presented estimator is assessed in terms of Monte Carlo simulations.}, address = {Daegu, Republic of Korea}, author = {Florian Rosenthal and Benjamin Noack and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017)}, month = {November}, pdf = {MFI17_Rosenthal.pdf}, title = {State Estimation in Networked Control Systems With Delayed And Lossy Acknowledgments}, year = {2017} }  Selim Özgen, Florian Faion, Antonio Zea, Uwe D. Hanebeck, A Non-Parametric Inference Technique for Shape Boundaries in Noisy Point Clouds,Proceedings of the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017), Daegu, Republic of Korea, November, 2017. BibTeX: @inproceedings{MFI17_Oezgen, abstract = {This study explores the non-parametric estimation of a shape boundary from noisy points in 2D when the sensor characteristics are known. As the underlying shape information is not known, the offered algorithm estimates points on the shape boundary by using the statistics of the subsets of point cloud data. The novel approach proposed in this paper is able to find corner points in a local geometry by only using sample mean and covariance matrices of the subsets of the point cloud. While the proposed approach can be used for any class of boundary functions that demonstrates symmetry; for this paper, the analysis and experiments are performed on a connected line segment.}, address = {Daegu, Republic of Korea}, author = {Selim Özgen and Florian Faion and Antonio Zea and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017)}, month = {November}, pdf = {MFI17_Oezgen.pdf}, title = {A Non-Parametric Inference Technique for Shape Boundaries in Noisy Point Clouds}, year = {2017} }  Maxim Dolgov, Uwe D. Hanebeck, Static Output-Feedback Control of Markov Jump Linear Systems Without Mode Observation,IEEE Transactions on Automatic Control, October, 2017. BibTeX: @article{TAC17_Dolgov, abstract = {In this paper, we address infinite-horizon optimal control of Markov Jump Linear Systems (MJLS) via static output feedback. Because the jump parameter is assumed not to be observed, the optimal control law is nonlinear and intractable. Therefore, we assume the regulator to be linear. Under this assumption, we first present sufficient feasibility conditions for static output-feedback stabilization of MJLS with non-observed mode in the mean square sense in terms of linear matrix inequalities (LMIs). However, these conditions depend on the particular state-space representation, i.e., a coordinate transform can make the LMIs feasible, while the original LMIs are infeasible. To avoid the issues with the ambiguity of the state-space representation, we therefore present an iterative algorithm for the computation of the regulator gain. The algorithm is shown to converge if the MJLS is stabilizable via mode-independent static output feedback. However, convergence of the algorithm is not sufficient for stability of the closed loop, which requires an additional stability check after the regulator gains have been computed. A numerical example demonstrates the application of the presented results.}, author = {Maxim Dolgov and Uwe D. Hanebeck}, doi = {10.1109/TAC.2017.2703924}, issn = {0018-9286}, journal = {IEEE Transactions on Automatic Control}, month = {October}, number = {10}, pdf = {TAC17_Dolgov.pdf}, title = {Static Output-Feedback Control of Markov Jump Linear Systems Without Mode Observation}, url = {http://ieeexplore.ieee.org/document/7927447/}, volume = {62}, year = {2017} }  Georg Maier, Florian Pfaff, Florian Becker, Christoph Pieper, Robin Gruna, Benjamin Noack, Harald Kruggel-Emden, Thomas Längle, Uwe D. Hanebeck, Siegmar Wirtz, Viktor Scherer, Jürgen Beyerer, Motion-Based Material Characterization in Sensor-Based Sorting,tm - Technisches Messen, De Gruyter, October, 2017. BibTeX: @article{TM17_Maier, abstract = {Sensor-based sorting provides state-of-the-art solutions for sorting cohesive, granular materials. Typically, involved sensors, illumination, implementation of data analysis and other components are designed and chosen according to the sorting task at hand. A common property of conventional systems is the utilization of scanning sensors. However, the usage of area-scan cameras has recently been proposed. When observing objects at multiple time points, the corresponding paths can be reconstructed by using multiobject tracking. This in turn allows to accurately estimate the point in time and position at which any object will reach the separation stage of the optical sorter and hence contributes to decreasing the error in physical separation. In this paper, it is proposed to further exploit motion information for the purpose of material characterization. By deriving suitable features from the motion information, we show that high classification performance is obtained for an exemplary classification task. The approach therefore contributes towards decreasing the detection error of sorting systems.}, author = {Georg Maier and Florian Pfaff and Florian Becker and Christoph Pieper and Robin Gruna and Benjamin Noack and Harald Kruggel-Emden and Thomas Längle and Uwe D. Hanebeck and Siegmar Wirtz and Viktor Scherer and Jürgen Beyerer}, doi = {10.1515/teme-2017-0063}, journal = {tm - Technisches Messen, De Gruyter}, month = {October}, title = {Motion-Based Material Characterization in Sensor-Based Sorting}, url = {https://doi.org/10.1515/teme-2017-0063}, year = {2017} }  Christoph Pieper, Georg Maier, Florian Pfaff, Harald Kruggel-Emden, Robin Gruna, Benjamin Noack, Siegmar Wirtz, Viktor Scherer, Thomas Längle, Uwe D. Hanebeck, Jürgen Beyerer, Numerical Modelling of the Separation of Complex Shaped Particles in an Optical Belt Sorter Using a DEM–CFD Approach and Comparison with Experiments,V International Conference on Particle-based Methods. Fundamentals and Applications (PARTICLES 2017), Hannover, Germany, September, 2017. BibTeX: @inproceedings{PARTICLES17_Pieper, abstract = {In the growing field of bulk solids handling, automated optical sorting systems are of increasing importance. However, the initial sorter calibration is still very time consuming and the precise optical sorting of many materials still remains challenging. In order to investigate the impact of different operating parameters on the sorting quality, a numerical model of an existing modular optical belt sorter is presented in this study. The sorter and particle interaction is described with the Discrete Element Method (DEM) while the air nozzles required for deflecting undesired material fractions are modelled with Computation Fluid Dynamics (CFD). The correct representation of the resulting particle–fluid interaction is realized through a one–way coupling of the DEM with CFD. Complex shaped particle clusters are employed to model peppercorns also used in experimental investigations. To test the correct implementation of the utilized models, the particle mass flow within the sorter is compared between experiment and simulation. The particle separation results of the developed numerical model of the optical sorting system are compared with matching experimental investigations. The findings show that the numerical model is able to predict the sorting quality of the optical sorting system with reasonable accuracy.}, address = {Hannover, Germany}, author = {Christoph Pieper and Georg Maier and Florian Pfaff and Harald Kruggel-Emden and Robin Gruna and Benjamin Noack and Siegmar Wirtz and Viktor Scherer and Thomas Längle and Uwe D. Hanebeck and Jürgen Beyerer}, booktitle = {V International Conference on Particle-based Methods. Fundamentals and Applications (PARTICLES 2017)}, month = {September}, pdf = {Particles17_Pieper.pdf}, title = {Numerical Modelling of the Separation of Complex Shaped Particles in an Optical Belt Sorter Using a DEM--CFD Approach and Comparison with Experiments}, year = {2017} }  Gerhard Kurz, Florian Pfaff, Uwe D. Hanebeck, Nonlinear Toroidal Filtering Based on Bivariate Wrapped Normal Distributions,Proceedings of the 20th International Conference on Information Fusion (Fusion 2017), Xi'an, China, July, 2017. BibTeX: @inproceedings{Fusion17_Kurz, address = {Xi'an, China}, author = {Gerhard Kurz and Florian Pfaff and Uwe D. Hanebeck}, booktitle = {Proceedings of the 20th International Conference on Information Fusion (Fusion 2017)}, month = {July}, pdf = {Fusion17_Kurz-TorusFilter.pdf}, title = {Nonlinear Toroidal Filtering Based on Bivariate Wrapped Normal Distributions}, year = {2017} }  Xianqing Li, Zhansheng Duan, Uwe D. Hanebeck, Performance Ranking of Multiple Nonlinear Filters Using Ranking Vector and Voting Fusion,Proceedings of the 20th International Conference on Information Fusion (Fusion 2017), Xi'an, China, July, 2017. BibTeX: @inproceedings{Fusion17_Li, address = {Xi'an, China}, author = {Xianqing Li and Zhansheng Duan and Uwe D. Hanebeck}, booktitle = {Proceedings of the 20th International Conference on Information Fusion (Fusion 2017)}, month = {July}, title = {Performance Ranking of Multiple Nonlinear Filters Using Ranking Vector and Voting Fusion}, year = {2017} }  Benjamin Noack, Joris Sijs, Uwe D. Hanebeck, Inverse Covariance Intersection: New Insights and Properties,Proceedings of the 20th International Conference on Information Fusion (Fusion 2017), Xi'an, China, July, 2017. BibTeX: @inproceedings{Fusion17_Noack, abstract = {Decentralized data fusion is a challenging task. Either it is too difficult to maintain and track the information required to perform fusion optimally, or too much information is discarded to obtain informative fusion results. A well-known solution is Covariance Intersection, which may provide too conservative fusion results. A less conservative alternative is discussed in this paper, and generalizations are proposed in order to apply it to a wide class of fusion problems. The Inverse Covariance Intersection algorithm is about finding the maximum possible common information shared by the estimates to be fused. A bound on the possibly shared common information is derived and removed from the fusion result in order to guarantee consistency. It is shown that the conditions required for consistency can be significantly relaxed, and also other causes of correlations, such as common process noise, can be treated.}, address = {Xi'an, China}, author = {Benjamin Noack and Joris Sijs and Uwe D. Hanebeck}, booktitle = {Proceedings of the 20th International Conference on Information Fusion (Fusion 2017)}, month = {July}, pdf = {Fusion17_Noack.pdf}, title = {Inverse Covariance Intersection: New Insights and Properties}, year = {2017} }  Florian Pfaff, Benjamin Noack, Uwe D. Hanebeck, Optimal Distributed Combined Stochastic and Set-Membership State Estimation,Proceedings of the 20th International Conference on Information Fusion (Fusion 2017), Xi'an, China, July, 2017. BibTeX: @inproceedings{Fusion17_Pfaff-Set, abstract = {For distributed estimation, algorithms have to be specifically crafted to minimize communication between the sensor nodes. As an adjusted version of the regular Kalman filter, the distributed Kalman filter (DKF) allows for deriving optimal results while not requiring regular communication. To achieve this, the DKF requires that each node has full knowledge about the system model and measurement models of all nodes. However, the DKF is not sufficient if the characteristics of the errors in the system and measurement models are not purely stochastic. In this paper, we present a distributed version of a combined stochastic and set-membership Kalman filter. The proposed filter optimizes the approximations of the set-membership uncertainties and can even yield better results than the regular centralized filter.}, address = {Xi'an, China}, author = {Florian Pfaff and Benjamin Noack and Uwe D. Hanebeck}, booktitle = {Proceedings of the 20th International Conference on Information Fusion (Fusion 2017)}, month = {July}, pdf = {Fusion17_Pfaff-Set.pdf}, title = {Optimal Distributed Combined Stochastic and Set-Membership State Estimation}, year = {2017} }  Florian Pfaff, Benjamin Noack, Uwe D. Hanebeck, Information Form Distributed Kalman Filtering (IDKF) with Explicit Inputs,Proceedings of the 20th International Conference on Information Fusion (Fusion 2017), Xi'an, China, July, 2017. BibTeX: @inproceedings{Fusion17_Pfaff-IDKF, abstract = {With the ubiquity of information distributed in networks, performing recursive Bayesian estimation using distributed calculations is becoming more and more important. There are a wide variety of algorithms catering to different applications and requiring different degrees of knowledge about the other nodes involved. One recently developed algorithm is the distributed Kalman filter (DKF), which assumes that all knowledge about the measurements, except the measurements themselves, are known to all nodes. If this condition is met, the DKF allows deriving the optimal estimate if all information is combined in one node at an arbitrary time step. In this paper, we present an information form of the distributed Kalman filter (IDKF) that allows the use of explicit system inputs at the individual nodes while still yielding the same results as a centralized Kalman filter.}, address = {Xi'an, China}, author = {Florian Pfaff and Benjamin Noack and Uwe D. Hanebeck}, booktitle = {Proceedings of the 20th International Conference on Information Fusion (Fusion 2017)}, month = {July}, pdf = {Fusion17_Pfaff-IDKF.pdf}, title = {Information Form Distributed Kalman Filtering (IDKF) with Explicit Inputs}, year = {2017} }  Fabian Sigges, Marcus Baum, Uwe D. Hanebeck, A Likelihood-Free Particle Filter for Multi-Object Tracking,Proceedings of the 20th International Conference on Information Fusion (Fusion 2017), Xi'an, China, July, 2017. BibTeX: @inproceedings{Fusion17_Sigges, abstract = {We present a particle filter for multi-object tracking that is based on the ideas of the Approximate Bayesian Computation (ABC) paradigm. The main idea is to avoid the explicit computation of the likelihood function by means of simulation. For this purpose, a large amount of particles in the state space is simulated from the prior, transformed into measurement space, and then compared to the real measurement by using an appropriate distance function, i.e., the OSPA distance. By selecting the closest simulated measurements and their corresponding particles in state space, the posterior distribution is approximated. The algorithm is evaluated in a multi-object scenario with and without clutter and is compared to a global nearest neighbour Kalman filter.}, address = {Xi'an, China}, author = {Fabian Sigges and Marcus Baum and Uwe D. Hanebeck}, booktitle = {Proceedings of the 20th International Conference on Information Fusion (Fusion 2017)}, month = {July}, pdf = {Fusion17_Sigges.pdf}, title = {A Likelihood-Free Particle Filter for Multi-Object Tracking}, year = {2017} }  Joris Sijs, Benjamin Noack, Event-based State Estimation in a Feedback Loop with Imperfect Communication Links,Proceedings of the 20th IFAC World Congress (IFAC 2017), Toulouse, France, July, 2017. BibTeX: @inproceedings{IFAC17_Sijs, abstract = {Event-based sampling of sensor signals has become a mature alternative to time-periodic sampling completed with solutions for event-based estimation and control. Among those solutions there is a class of estimators exploiting the fact that an event was not triggered. Not receiving a new measurement is then interpreted as a sensor signal that has not violated the event criteria, which means that the signal is still within the triggering set defining the event. Such implied measurement information is exploited by the estimator, though it is only valid when no event occurred. The approach is thus sensitive to package loss and latency, as the estimator might be incorrect in assuming that no event took place. A solution to anticipate for package loss on the estimation error is studied in this article, and it is further turned into a first solution when the estimator is part of a feedback-control loop.}, address = {Toulouse, France}, author = {Joris Sijs and Benjamin Noack}, booktitle = {Proceedings of the 20th IFAC World Congress (IFAC 2017)}, month = {July}, title = {Event-based State Estimation in a Feedback Loop with Imperfect Communication Links}, year = {2017} }  Florian Pfaff, Georg Maier, Mikhail Aristov, Benjamin Noack, Robin Gruna, Uwe D. Hanebeck, Thomas Längle, Jürgen Beyerer, Christoph Pieper, Harald Kruggel-Emden, Siegmar Wirtz, Viktor Scherer, Real-Time Motion Prediction Using the Chromatic Offset of Line Scan Cameras,at - Automatisierungstechnik, De Gruyter, June, 2017. BibTeX: @article{AT17_Pfaff, abstract = {State-of-the-art optical belt sorters commonly employ line scan cameras and use simple assumptions to predict each particle's movement, which is required for the separation process. Previously, we have equipped an experimental optical belt sorter with an area scan camera and were able to show that tracking the particles of the bulk material results in an improvement of the predictions and thus also the sorting process. In this paper, we use the slight gap between the sensor lines of an RGB line scan camera to derive information about the particles' movements in real-time. This approach allows improving the predictions in optical belt sorters without necessitating any hardware modifications.}, author = {Florian Pfaff and Georg Maier and Mikhail Aristov and Benjamin Noack and Robin Gruna and Uwe D. Hanebeck and Thomas Längle and Jürgen Beyerer and Christoph Pieper and Harald Kruggel-Emden and Siegmar Wirtz and Viktor Scherer}, doi = {10.1515/auto-2017-0009}, journal = {at - Automatisierungstechnik, De Gruyter}, month = {June}, pdf = {AT17_Pfaff.pdf}, title = {Real-Time Motion Prediction Using the Chromatic Offset of Line Scan Cameras}, url = {https://doi.org/10.1515/auto-2017-0009}, year = {2017} }  Benjamin Noack, Joris Sijs, Marc Reinhardt, Uwe D. Hanebeck, Decentralized Data Fusion with Inverse Covariance Intersection,Automatica, 79:35–41, May, 2017. BibTeX: @article{Automatica17_Noack, abstract = {In distributed and decentralized state estimation systems, fusion methods are employed to systematically combine multiple estimates of the state into a single, more accurate estimate. An often encountered problem in the fusion process relates to unknown common information that is shared by the estimates to be fused and is responsible for correlations. If the correlation structure is unknown to the fusion method, conservative strategies are typically pursued. As such, the parameterization introduced by the ellipsoidal intersection method has been a novel approach to describe unknown correlations, though suitable values for these parameters with proven consistency have not been identified yet. In this article, an extension of ellipsoidal intersection is proposed that guarantees consistent fusion results in the presence of unknown common information. The bound used by the novel approach corresponds to computing an outer ellipsoidal bound on the intersection of inverse covariance ellipsoids. As a major advantage of this inverse covariance intersection method, fusion results prove to be more accurate than those provided by the well-known covariance intersection method.}, author = {Benjamin Noack and Joris Sijs and Marc Reinhardt and Uwe D. Hanebeck}, doi = {10.1016/j.automatica.2017.01.019}, journal = {Automatica}, month = {May}, pages = {35--41}, pdf = {Automatica17_Noack.pdf}, title = {Decentralized Data Fusion with Inverse Covariance Intersection}, url = {http://dx.doi.org/10.1016/j.automatica.2017.01.019}, volume = {79}, year = {2017} }  Uwe D. Hanebeck, Marcus Baum, Peter Willett, Symmetrizing Measurement Equations for Association-free Multi-target Tracking via Point Set Distances,SPIE - Signal Processing, Sensor/Information Fusion, and Target Recognition XXVI, Anaheim, California, USA, April, 2017. BibTeX: @inproceedings{SPIE17_Hanebeck, abstract = {We are tracking multiple targets based on noisy measurements. The targets are labeled, the measurements are unlabeled, and the association of measurements to targets is unknown. Our goal is association-free tracking, so the associations will never be determined as this is costly and impractical in many scenarios. By employing a permutation-invariant and differentiable point set distance measure, we derive a modified association-free multi-target measurement equation. It maintains the target identities but is invariant to permutations in the unlabeled measurements. Based on this measurement equation, we derive an efficient sample-based association-free multi-target Kalman filter. The proposed new approach is straightforward to implement and scalable.}, address = {Anaheim, California, USA}, author = {Uwe D. Hanebeck and Marcus Baum and Peter Willett}, booktitle = {SPIE - Signal Processing, Sensor/Information Fusion, and Target Recognition XXVI}, month = {April}, pdf = {SPIE17_Hanebeck.pdf}, title = {Symmetrizing Measurement Equations for Association-free Multi-target Tracking via Point Set Distances}, year = {2017} }  Georg Maier, Florian Pfaff, Florian Becker, Christoph Pieper, Robin Gruna, Benjamin Noack, Harald Kruggel-Emden, Thomas Längle, Uwe D. Hanebeck, Siegmar Wirtz, Viktor Scherer, Jürgen Beyerer, Improving Material Characterization in Sensor-Based Sorting by Utilizing Motion Information,Proceedings of the 3rd Conference on Optical Characterization of Materials (OCM 2017), Karlsruhe, Germany, March, 2017. Winner Best Paper Award Certificate (PDF) BibTeX: @inproceedings{OCM17_Maier, abstract = {Sensor-based sorting provides state-of-the-art solutions for sorting of cohesive, granular materials. Systems tailored to a task at hand, for instance by means of sensors and implementations of data analysis. Conventional systems utilize scanning sensors which do not allow for extraction of motion-related information of objects contained in a material feed. Recently, usage of area-scan cameras to overcome this disadvantage has been proposed. Multitarget tracking can then be used in order to accurately estimate the point in time and position at which any object will reach the separation stage. In this paper, utilizing motion information of objects which can be retrieved from multitarget tracking for the purpose of classification is proposed. Results show that corresponding features can significantly increase classification performance and eventually decrease the detection error of a sorting system.}, address = {Karlsruhe, Germany}, annote = {Winner Best Paper Award Certificate (PDF)}, author = {Georg Maier and Florian Pfaff and Florian Becker and Christoph Pieper and Robin Gruna and Benjamin Noack and Harald Kruggel-Emden and Thomas Längle and Uwe D. Hanebeck and Siegmar Wirtz and Viktor Scherer and Jürgen Beyerer}, booktitle = {Proceedings of the 3rd Conference on Optical Characterization of Materials (OCM 2017)}, month = {March}, pdf = {OCM17_Maier.pdf}, title = {Improving Material Characterization in Sensor-Based Sorting by Utilizing Motion Information}, url = {https://www.ksp.kit.edu/9783731506126}, year = {2017} }  Gerhard Kurz, Uwe D. Hanebeck, Deterministic Sampling on the Torus for Bivariate Circular Estimation,IEEE Transactions on Aerospace and Electronic Systems, 53(1):530–534, February, 2017. BibTeX: @article{TAES17_Kurz, author = {Gerhard Kurz and Uwe D. Hanebeck}, doi = {10.1109/TAES.2017.2650079}, issn = {0018-9251}, journal = {IEEE Transactions on Aerospace and Electronic Systems}, month = {February}, number = {1}, pages = {530--534}, pdf = {TAES17_Kurz.pdf}, title = {Deterministic Sampling on the Torus for Bivariate Circular Estimation}, volume = {53}, year = {2017} }  2016 Jesús Munoz Morcillo, Florian Faion, Antonio Zea, Uwe D. Hanebeck, Caroline Y. Robertson-von Trotha, e-Installation: Synesthetic Documentation of Media Art via Telepresence Technologies,Space and Time Visualisation, pp. 173–191, Springer International Publishing, 2016. BibTeX: @incollection{MunozMorcillo2016, author = {Jesús Munoz Morcillo and Florian Faion and Antonio Zea and Uwe D. Hanebeck and Caroline Y. Robertson-von Trotha}, booktitle = {Space and Time Visualisation}, editor = {Boştenaru Dan, Maria and Crăciun, Cerasella}, isbn = {978-3-319-24942-1}, pages = {173--191}, pdf = {STV16_Morcillo.pdf}, publisher = {Springer International Publishing}, title = {e-Installation: Synesthetic Documentation of Media Art via Telepresence Technologies}, year = {2016} }  Maxim Dolgov, Gerhard Kurz, Uwe D. Hanebeck, Finite-horizon Dynamic Compensation of Markov Jump Linear Systems without Mode Observation,Proceedings of the 55th IEEE Conference on Decision and Control (CDC 2016), Las Vegas, Nevada, USA, December, 2016. BibTeX: @inproceedings{CDC16_Dolgov, address = {Las Vegas, Nevada, USA}, author = {Maxim Dolgov and Gerhard Kurz and Uwe D. Hanebeck}, booktitle = {Proceedings of the 55th IEEE Conference on Decision and Control (CDC 2016)}, month = {December}, pdf = {CDC16_Dolgov.pdf}, title = {Finite-horizon Dynamic Compensation of Markov Jump Linear Systems without Mode Observation}, year = {2016} }  Gerhard Kurz, Igor Gilitschenski, Roland Y. Siegwart, Uwe D. Hanebeck, Methods for Deterministic Approximation of Circular Densities,Journal of Advances in Information Fusion, 11(2):138–156, December, 2016. BibTeX: @article{JAIF16_Kurz, author = {Gerhard Kurz and Igor Gilitschenski and Roland Y. Siegwart and Uwe D. Hanebeck}, journal = {Journal of Advances in Information Fusion}, month = {December}, number = {2}, pages = {138--156}, title = {Methods for Deterministic Approximation of Circular Densities}, url = {http://confcats_isif.s3.amazonaws.com/web-files/journals/entries/JAIF_Vol11_2_3.pdf}, volume = {11}, year = {2016} }  Florian Pfaff, Gerhard Kurz, Uwe D. Hanebeck, Multivariate Angular Filtering Using Fourier Series,Journal of Advances in Information Fusion, 11(2):206–226, December, 2016. BibTeX: @article{JAIF16_Pfaff, author = {Florian Pfaff and Gerhard Kurz and Uwe D. Hanebeck}, journal = {Journal of Advances in Information Fusion}, month = {December}, number = {2}, pages = {206--226}, title = {Multivariate Angular Filtering Using Fourier Series}, url = {http://confcats_isif.s3.amazonaws.com/web-files/journals/entries/JAIF_Vol11_2_7.pdf}, volume = {11}, year = {2016} }  Gerhard Kurz, Florian Pfaff, Uwe D. Hanebeck, Discrete Recursive Bayesian Filtering on Intervals and the Unit Circle,Proceedings of the 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016), Baden-Baden, Germany, September, 2016. BibTeX: @inproceedings{MFI16_Kurz, abstract = {Various applications necessitate the estimation of quantities defined on intervals or the unit circle, which can also be parameterized as an interval. These applications include estimation of joint angles that are either limited to a certain range or that are 360-degree-periodic. For this purpose, we consider two approaches based on discretizing the state space that use fundamentally different density representations. We show how prediction and measurement update for systems with nonlinear dynamics and nonlinear measurement models can be performed in each representation. In particular, we discuss the choices that go into designing discrete filters, which are sometimes taken for granted. A thorough comparison and a numerical evaluation of both approaches show the advantages and disadvantages of each method.}, address = {Baden-Baden, Germany}, author = {Gerhard Kurz and Florian Pfaff and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016)}, month = {September}, pdf = {MFI16_Kurz.pdf}, title = {Discrete Recursive Bayesian Filtering on Intervals and the Unit Circle}, year = {2016} }  Antonio Zea, Florian Faion, Jannik Steinbring, Uwe D. Hanebeck, Exploiting Negative Measurements for Tracking Star-Convex Extended Objects,Proceedings of the 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016), Baden-Baden, Germany, September, 2016. BibTeX: @inproceedings{MFI16_Zea, abstract = {ABSTRACT}, address = {Baden-Baden, Germany}, author = {Antonio Zea and Florian Faion and Jannik Steinbring and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016)}, month = {September}, pdf = {MFI16_Zea.pdf}, title = {Exploiting Negative Measurements for Tracking Star-Convex Extended Objects}, year = {2016} }  Florian Faion, Antonio Zea, Benjamin Noack, Jannik Steinbring, Uwe D. Hanebeck, Camera- and IMU-based Pose Tracking for Augmented Reality,Proceedings of the 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016), Baden-Baden, Germany, September, 2016. BibTeX: @inproceedings{MFI16_Faion, address = {Baden-Baden, Germany}, author = {Florian Faion and Antonio Zea and Benjamin Noack and Jannik Steinbring and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016)}, month = {September}, pdf = {MFI16_Faion.pdf}, title = {Camera- and IMU-based Pose Tracking for Augmented Reality}, year = {2016} }  Georg Maier, Florian Pfaff, Christoph Pieper, Robin Gruna, Benjamin Noack, Harald Kruggel-Emden, Thomas Längle, Uwe D. Hanebeck, Siegmar Wirtz, Viktor Scherer, Jürgen Beyerer, Fast Multitarget Tracking via Strategy Switching for Sensor-Based Sorting,Proceedings of the 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016), Baden-Baden, Germany, September, 2016. BibTeX: @inproceedings{MFI16_Maier, abstract = {State-of-the-art sensor-based sorting systems provide solutions to sort various products according to quality aspects. Such systems face the challenge of an existing delay between perception and separation of the material. To reliably predict an object's position when reaching the separation stage, information regarding its movement needs to be derived. Multitarget tracking offers approaches through which this can be achieved. However, processing time is typically limited since the sorting decision for each object needs to be derived sufficiently early before it reaches the separation stage. In this paper, an approach for multitarget tracking in sensor-based sorting is proposed which supports establishing an upper bound regarding processing time required for solving the measurement to track association problem. To demonstrate the success of the proposed method, experiments are conducted for data-sets obtained via simulation of a sorting system. This way, it is possible to not only demonstrate the impact on required runtime but also on the quality of the association.}, address = {Baden-Baden, Germany}, author = {Georg Maier and Florian Pfaff and Christoph Pieper and Robin Gruna and Benjamin Noack and Harald Kruggel-Emden and Thomas Längle and Uwe D. Hanebeck and Siegmar Wirtz and Viktor Scherer and Jürgen Beyerer}, booktitle = {Proceedings of the 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016)}, month = {September}, pdf = {MFI16_Maier.pdf}, title = {Fast Multitarget Tracking via Strategy Switching for Sensor-Based Sorting}, year = {2016} }  Benjamin Noack, Joris Sijs, Uwe D. Hanebeck, Algebraic Analysis of Data Fusion with Ellipsoidal Intersection,Proceedings of the 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016), Baden-Baden, Germany, September, 2016. BibTeX: @inproceedings{MFI16_Noack, abstract = {For decentralized fusion problems, ellipsoidal intersection has been proposed as an efficient fusion rule that provides less conservative results as compared to the well-know covariance intersection method. Ellipsoidal intersection relies on the computation of a common estimate that is shared by the estimates to be fused. In this paper, an algebraic reformulation of ellipsoidal intersection is discussed that circumvents the computation of the common estimate. It is shown that ellipsoidal intersection corresponds to an internal ellipsoidal approximation of the intersection of covariance ellipsoids. An interesting result is that ellipsoidal intersection can be computed with the aid of the Bar-Shalom/Campo fusion formulae. This is achieved by assuming a specific correlation structure between the estimates to be fused.}, address = {Baden-Baden, Germany}, author = {Benjamin Noack and Joris Sijs and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016)}, month = {September}, pdf = {MFI16_Noack.pdf}, title = {Algebraic Analysis of Data Fusion with Ellipsoidal Intersection}, year = {2016} }  Florian Pfaff, Christoph Pieper, Georg Maier, Benjamin Noack, Harald Kruggel-Emden, Robin Gruna, Uwe D. Hanebeck, Siegmar Wirtz, Viktor Scherer, Thomas Längle, Jürgen Beyerer, Simulation-Based Evaluation of Predictive Tracking for Sorting Bulk Materials,Proceedings of the 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016), Baden-Baden, Germany, September, 2016. BibTeX: @inproceedings{MFI16_Pfaff, abstract = {Multitarget tracking problems arise in many real-world applications. The performance of the utilized algorithm strongly depends both on how the data association problem is handled and on the suitability of the motion models employed. Especially the motion models can be hard to validate. Previously, we have proposed to use multitarget tracking to improve optical belt sorters. In this paper, we evaluate both the suitability of our model and the tracking and then of our entire system incorporating the image processing component via the use of highly realistic numerical simulations. We first assess the model using noise-free measurements generated by the simulation and then evaluate the entire system by using synthetically generated image data.}, address = {Baden-Baden, Germany}, author = {Florian Pfaff and Christoph Pieper and Georg Maier and Benjamin Noack and Harald Kruggel-Emden and Robin Gruna and Uwe D. Hanebeck and Siegmar Wirtz and Viktor Scherer and Thomas Längle and Jürgen Beyerer}, booktitle = {Proceedings of the 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016)}, month = {September}, pdf = {MFI16_Pfaff.pdf}, title = {Simulation-Based Evaluation of Predictive Tracking for Sorting Bulk Materials}, year = {2016} }  Jannik Steinbring, Antonio Zea, Uwe D. Hanebeck, Semi-Analytic Progressive Gaussian Filtering,Proceedings of the 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016), Baden-Baden, Germany, September, 2016. BibTeX: @inproceedings{MFI16_Steinbring, abstract = {As an alternative to Kalman filters and particle filters, recently the progressive Gaussian filter (PGF) was proposed for estimating the state of discrete-time stochastic nonlinear dynamic systems. Like Kalman filters, the estimate of the PGF is a Gaussian distribution, but like particle filters, its measurement update works directly with the likelihood function in order to avoid the inherent linearization of the Kalman filters. However, compared to particle filters, the PGF allows for much faster state estimation and circumvents the severe problem of particle degeneracy by gradually transforming its prior Gaussian distribution into a posterior one. In this paper, we further enhance the estimation quality and runtime of the PGF by proposing a semi-analytic measurement update applicable to likelihood functions that only depend on a subspace of the system state. In fact, the proposed semi-analytic measurement update is not limited to the PGF and can be used by any nonlinear state estimator as long as its state estimate is Gaussian, e.g., the Gaussian particle filter.}, address = {Baden-Baden, Germany}, author = {Jannik Steinbring and Antonio Zea and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016)}, month = {September}, pdf = {MFI16_Steinbring_PGF.pdf}, title = {Semi-Analytic Progressive Gaussian Filtering}, year = {2016} }  Jannik Steinbring, Christian Mandery, Florian Pfaff, Florian Faion, Tamim Asfour, Uwe D. Hanebeck, Real-Time Whole-Body Human Motion Tracking Based on Unlabeled Markers,Proceedings of the 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016), Baden-Baden, Germany, September, 2016. BibTeX: @inproceedings{MFI16_Steinbring2, abstract = {In this paper, we present a novel online approach for tracking whole-body human motion based on unlabeled measurements of markers attached to the body. For that purpose, we employ a given kinematic model of the human body including the locations of the attached markers. Based on the model, we apply a combination of constrained sample-based Kalman filtering and multi-target tracking techniques: 1) joint constraints imposed by the human body are satisfied by introducing a parameter transformation based on periodic functions, 2) a global nearest neighbor (GNN) algorithm computes the most likely one-to-one association between markers and measurements, and 3) multiple hypotheses tracking (MHT) allows for a robust initialization that only requires an upright standing user. Evaluations clearly demonstrate that the proposed tracking provides highly accurate pose estimates in real-time, even for fast and complex motions. In addition, it provides robustness to partial occlusion of markers and also handles unavoidable clutter measurements.}, address = {Baden-Baden, Germany}, author = {Jannik Steinbring and Christian Mandery and Florian Pfaff and Florian Faion and Tamim Asfour and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016)}, month = {September}, pdf = {MFI16_Steinbring_Tracking.pdf}, title = {Real-Time Whole-Body Human Motion Tracking Based on Unlabeled Markers}, year = {2016} }  Christoph Pieper, Harald Kruggel-Emden, Siegmar Wirtz, Viktor Scherer, Florian Pfaff, Benjamin Noack, Uwe D. Hanebeck, Georg Maier, Robin Gruna, Thomas Längle, Jürgen Beyerer, Numerical Investigation of Optical Sorting Using the Discrete Element Method,Proceedings of the 7th International Conference on Discrete Element Methods (DEM7), Dalian, China, August, 2016. BibTeX: @inproceedings{DEM16_Pieper, abstract = {Automated optical sorting systems are important devices in the growing field of bulk solids handling. The initial sorter calibration and the precise optical sorting of many materials is still very time consuming and difficult. A numerical model of an automated optical belt sorter is presented in this study. The sorter and particle interaction is described with the Discrete Element Method (DEM) while the separation phase is considered in a post processing step. Different operating parameters and their influence on sorting quality are investigated. In addition, two models for detecting and predicting the particle movement between the detection point and the separation step are presented and compared, namely a conventional line scan camera model and a new approach combining an area scan camera model with particle tracking.}, address = {Dalian, China}, author = {Christoph Pieper and Harald Kruggel-Emden and Siegmar Wirtz and Viktor Scherer and Florian Pfaff and Benjamin Noack and Uwe D. Hanebeck and Georg Maier and Robin Gruna and Thomas Längle and Jürgen Beyerer}, booktitle = {Proceedings of the 7th International Conference on Discrete Element Methods (DEM7)}, month = {August}, pdf = {DEM7_Pieper.pdf}, title = {Numerical Investigation of Optical Sorting Using the Discrete Element Method}, year = {2016} }  Jannik Steinbring, Benjamin Noack, Marc Reinhardt, Uwe D. Hanebeck, Optimal Sample-Based Fusion for Distributed State Estimation,Proceedings of the 19th International Conference on Information Fusion (Fusion 2016), Heidelberg, Germany, July, 2016. BibTeX: @inproceedings{Fusion16_Steinbring, abstract = {In this paper, we present a novel approach to optimally fuse estimates in distributed state estimation for linear and nonlinear systems. An optimal fusion requires the knowledge of the correct correlations between locally obtained estimates. The naive and intractable way of calculating the correct correlations would be to exchange information about every processed measurement between all nodes. Instead, we propose to obtain the correct correlations by keeping and processing a small set of deterministic samples on each node in parallel to the actual local state estimation. Sending these samples in addition to the local state estimate to the fusion center allows for correctly reconstructing the desired correlations between all estimates. In doing so, each node does not need any information about measurements processed on other nodes. We show the optimality of the proposed method by means of tracking an extended object in a multi-camera network.}, address = {Heidelberg, Germany}, author = {Jannik Steinbring and Benjamin Noack and Marc Reinhardt and Uwe D. Hanebeck}, booktitle = {Proceedings of the 19th International Conference on Information Fusion (Fusion 2016)}, month = {July}, pdf = {Fusion16_Steinbring.pdf}, title = {Optimal Sample-Based Fusion for Distributed State Estimation}, year = {2016} }  Marcus Baum, Shishan Yang, Uwe D. Hanebeck, The Kernel-SME Filter with False and Missing Measurements,Proceedings of the 19th International Conference on Information Fusion (Fusion 2016), Heidelberg, Germany, July, 2016. BibTeX: @inproceedings{Fusion16_Baum, abstract = {The recently proposed Kernel-SME filter for multiobject tracking is a further development of the Symmetric Measurement Equation (SME) idea introduced by Kamen in the 1990s. The Kernel-SME constructs a symmetric, i.e., permutation invariant, measurement equation by transforming the measurements to a kernel mixture function. This transformation is scalable to a large number of objects and allows for deriving an efficient closed-form Gaussian filter based on the Kalman filter formulas. This work shows how the Kernel-SME approach can systematically incorporate false and missing measurements.}, address = {Heidelberg, Germany}, author = {Marcus Baum and Shishan Yang and Uwe D. Hanebeck}, booktitle = {Proceedings of the 19th International Conference on Information Fusion (Fusion 2016)}, month = {July}, pdf = {Fusion16_Kernel-SME_Filter.pdf}, title = {The Kernel-SME Filter with False and Missing Measurements}, year = {2016} }  Christof Chlebek, Jannik Steinbring, Uwe D. Hanebeck, Progressive Gaussian Filter Using Importance Sampling and Particle Flow,Proceedings of the 19th International Conference on Information Fusion (Fusion 2016), Heidelberg, Germany, July, 2016. BibTeX: @inproceedings{Fusion16_Chlebek, abstract = {We propose a novel progressive Gaussian filter for nonlinear stochastic systems. A Gaussian approximation of the posterior is computed without an explicit assumption of a linear relation between the system state and the measurement. This allows for better quality of the estimation compared to Kalman filters for nonlinear problems like the EKF or UKF. In this work, we use the progressive filter framework, which gradually incorporates information of a measurement into the state estimate by considering a flow of probability mass from the prior to the posterior state estimate. We propose a novel particle flow by utilizing a simple linear model. This model predicts the movement of single particles over the course of the filter progression. The predicted trajectory is corrected using importance sampling and moment matching. The proposed method is evaluated in comparison with other state-of-the-art nonlinear Bayesian filters.}, address = {Heidelberg, Germany}, author = {Christof Chlebek and Jannik Steinbring and Uwe D. Hanebeck}, booktitle = {Proceedings of the 19th International Conference on Information Fusion (Fusion 2016)}, month = {July}, pdf = {Fusion16_Chlebek.pdf}, title = {Progressive Gaussian Filter Using Importance Sampling and Particle Flow}, year = {2016} }  Zhansheng Duan, Qi Zhou, Uwe D. Hanebeck, Extended Kernel-Based Location Fingerprinting in Wireless Sensor Networks,Proceedings of the 19th International Conference on Information Fusion (Fusion 2016), Heidelberg, Germany, July, 2016. BibTeX: @inproceedings{Fusion16_Duan, abstract = {Fingerprinting localization is to estimate a mobile terminal’s location using its online received signal strength (RSS) measurement and offline RSS database originated from multiple access points (APs). Kernel-based fingerprinting localization is such a competitive algorithm. However, all training data need to be considered in its offline model learning stage. This render high risks for overfitting. To alleviate this, we suggest to apply clustering to the localization region of interest first and then use kernalbased fingerprinting localization for each cluster. A byproduct of clustering is that the computational load for each cluster is also significantly reduced. To further reduce the computational load within each cluster, we also suggest to apply principal component compression to the raw RSS measurements to reduce their dimensionality. The rationale for applying principal component compression is that the distributions of the RSS measurements at all calibration points (CPs) within each cluster will be more similar after clustering. Performance evaluation using both simulated data and real data show that the extended kernelbased fingerprinting localization using clustering and principal component compression have better location estimation accuracy and less computational load.}, address = {Heidelberg, Germany}, author = {Zhansheng Duan and Qi Zhou and Uwe D. Hanebeck}, booktitle = {Proceedings of the 19th International Conference on Information Fusion (Fusion 2016)}, month = {July}, pdf = {Fusion16_Duan_Fingerprinting.pdf }, title = {Extended Kernel-Based Location Fingerprinting in Wireless Sensor Networks}, year = {2016} }  Florian Faion, Maxim Dolgov, Antonio Zea, Uwe D. Hanebeck, Closed-form Bias Reduction for Shape Estimation with Polygon Models,Proceedings of the 19th International Conference on Information Fusion (Fusion 2016), Heidelberg, Germany, July, 2016. BibTeX: @inproceedings{Fusion16_Faion, abstract = {We look at the task of estimating the parameters of a geometric constraint from noisy points in 2D. The classical approach of minimizing the Euclidean distance error between points and constraint generally yields biased estimates for non-linear constraints and higher noise levels. To deal with this issue, the expected distribution of the distance error can be explicitly incorporated in the estimator. However, for piecewise linear constraints, e.g., polygons, only computationally demanding sampling-based approaches are available. We propose two major contributions in order to resolve this issue. First, we derive closed-form expressions for the probability density of the signed distance between noisy points and a polygon angle. Second, based on this result, we develop a bias reduction method for polygons, which can be calculated in closed-form as well. We demonstrate that the quality of our approach can compete with its sampling-based alternatives, but only demands a fraction of their computational cost.}, address = {Heidelberg, Germany}, author = {Florian Faion and Maxim Dolgov and Antonio Zea and Uwe D. Hanebeck}, booktitle = {Proceedings of the 19th International Conference on Information Fusion (Fusion 2016)}, month = {July}, pdf = {Fusion16_Faion.pdf }, title = {Closed-form Bias Reduction for Shape Estimation with Polygon Models}, year = {2016} }  Igor Gilitschenski, Gerhard Kurz, Uwe D. Hanebeck, Roland Siegwart, Optimal Quantization of Circular Distributions,Proceedings of the 19th International Conference on Information Fusion (Fusion 2016), Heidelberg, Germany, July, 2016. BibTeX: @inproceedings{Fusion16_Gilitschenski, abstract = {In this work, a new method for approximating circular probability distributions by a mixture of weighted discrete samples is proposed. Particularly, the wrapped normal distribution, the von Mises distribution, and the Bingham distribution are considered. The approximation approach is based on formulating a quantizer and a global optimality measure, which can be optimized directly. Furthermore, a relationship between the Bingham distribution and the von Mises distribution are formulated showing that it is sufficient to approximate a von Mises distribution with suitably chosen parameters in order to obtain an optimal approximation of the Bingham distribution. The resulting approximation is of particular interest for filtering applications, because the involved optimality measure gives rise to a general error estimate in propagation of uncertainties through nontrivial functions in the circular domain.}, address = {Heidelberg, Germany}, author = {Igor Gilitschenski and Gerhard Kurz and Uwe D. Hanebeck and Roland Siegwart}, booktitle = {Proceedings of the 19th International Conference on Information Fusion (Fusion 2016)}, month = {July}, pdf = {Fusion16_Quantization.pdf}, title = {Optimal Quantization of Circular Distributions}, year = {2016} }  Uwe D. Hanebeck, Martin Pander, Progressive Bayesian Estimation with Deterministic Particles,Proceedings of the 19th International Conference on Information Fusion (Fusion 2016), Heidelberg, Germany, July, 2016. BibTeX: @inproceedings{Fusion16_Hanebeck, abstract = {This paper introduces an enhanced method for progressive Bayesian estimation based on a set of deterministic samples. The information of a given measurement is gradually introduced in order to avoid particle degeneration, which is usually encountered in standard particle filters. The main contribution of this paper is to derive a new method for exploiting smoothness assumptions about the unknown underlying density function of the state.}, address = {Heidelberg, Germany}, author = {Uwe D. Hanebeck and Martin Pander}, booktitle = {Proceedings of the 19th International Conference on Information Fusion (Fusion 2016)}, month = {July}, pdf = {Fusion16_Hanebeck.pdf}, title = {Progressive Bayesian Estimation with Deterministic Particles}, year = {2016} }  Gerhard Kurz, Maxim Dolgov, Uwe D. Hanebeck, Progressive Closed-Loop Chance-Constrained Control,Proceedings of the 19th International Conference on Information Fusion (Fusion 2016), Heidelberg, Germany, July, 2016. BibTeX: @inproceedings{Fusion16_Kurz-Control, abstract = {Chance-constrained control is a difficult problem even if the considered system dynamics are linear. The difficulty stems from the facts that the chance constraints are difficult to evaluate and that the control law is nonlinear due to the constraints. In this paper, we present a novel approach to chanceconstrained control, where we solve the unconstrained control problem first and then use a progressive method to gradually introduce the chance constraints. This has significant advantages compared to traditional methods, because we do not require a feasible initial solution for the numerical optimization algorithm. Finally, we evaluate the novel method and compare it to an approach from literature.}, address = {Heidelberg, Germany}, author = {Gerhard Kurz and Maxim Dolgov and Uwe D. Hanebeck}, booktitle = {Proceedings of the 19th International Conference on Information Fusion (Fusion 2016)}, month = {July}, pdf = {Fusion16_Kurz-ChanceConstraints.pdf}, title = {Progressive Closed-Loop Chance-Constrained Control}, year = {2016} }  Gerhard Kurz, Florian Pfaff, Uwe D. Hanebeck, Kullback-Leibler Divergence and Moment Matching for Hyperspherical Probability Distributions,Proceedings of the 19th International Conference on Information Fusion (Fusion 2016), Heidelberg, Germany, July, 2016. BibTeX: @inproceedings{Fusion16_Kurz, abstract = {When approximating one probability density with another density, it is desirable to minimize the information loss of the approximation as quantified by, e.g., the Kullback–Leibler divergence (KLD). It has been known for some time that in the case of the Gaussian distribution, matching the first two moments of the original density yields the optimal approximation in terms of minimizing the KLD. In this paper, we will show that a similar property can be proven for certain hyperspherical probability distributions, namely the von Mises–Fisher and the Watson distribution. This result has profound implications for momentbased filtering on the unit hypersphere as it shows that momentbased approaches are optimal in the information-theoretic sense.}, address = {Heidelberg, Germany}, author = {Gerhard Kurz and Florian Pfaff and Uwe D. Hanebeck}, booktitle = {Proceedings of the 19th International Conference on Information Fusion (Fusion 2016)}, month = {July}, pdf = {Fusion16_Kurz-KLD2.pdf}, title = {Kullback-Leibler Divergence and Moment Matching for Hyperspherical Probability Distributions}, year = {2016} }  Benjamin Noack, Florian Pfaff, Marcus Baum, Uwe D. Hanebeck, State Estimation Considering Negative Information with Switching Kalman and Ellipsoidal Filtering,Proceedings of the 19th International Conference on Information Fusion (Fusion 2016), Heidelberg, Germany, July, 2016. BibTeX: @inproceedings{Fusion16_Noack, abstract = {State estimation concepts like the Kalman filter heavily rely on potentially noisy sensor data. In general, the estimation quality depends on the amount of sensor data that can be exploited. However, missing observations do not necessarily impair the estimation quality but may also convey exploitable information on the system state. This type of information - noted as negative information - often requires specific measurement and noise models in order to take advantage of it. In this paper, a hybrid Kalman filter concept is employed that allows using both stochastic and set-membership representations of information. In particular, the latter representation is intended to account for negative information, which can often be easily described as a bounded set in the measurement space. Depending on the type of information, the filtering step of the proposed estimator adaptively switches between Gaussian and ellipsoidal noise representations. A target tracking scenario is studied to evaluate and discuss the proposed concept.}, address = {Heidelberg, Germany}, author = {Benjamin Noack and Florian Pfaff and Marcus Baum and Uwe D. Hanebeck}, booktitle = {Proceedings of the 19th International Conference on Information Fusion (Fusion 2016)}, month = {July}, pdf = {Fusion16_Noack.pdf}, title = {State Estimation Considering Negative Information with Switching Kalman and Ellipsoidal Filtering}, year = {2016} }  Florian Pfaff, Gerhard Kurz, Uwe D. Hanebeck, Nonlinear Prediction for Circular Filtering Using Fourier Series,Proceedings of the 19th International Conference on Information Fusion (Fusion 2016), Heidelberg, Germany, July, 2016. BibTeX: @inproceedings{Fusion16_Pfaff, abstract = {While nonlinear filtering for circular quantities is closely related to nonlinear filtering on linear domains, the underlying manifold enables the development of novel filters that take advantage of the boundedness of the domain. Previously, we introduced Fourier filters that approximate the density or its square root using Fourier series. For these filters, we proposed filter steps for arbitrary likelihoods and prediction steps for the identity system model with additive noise. This paper adds the capability of handling arbitrary transition densities in the prediction step, which facilitates, e.g., the use of the filters for nonlinear systems with additive noise. In the evaluation, the new prediction steps for the Fourier filters outperform an SIR particle filter, a grid filter, and a nonlinear variant of the von Mises filter.}, address = {Heidelberg, Germany}, author = {Florian Pfaff and Gerhard Kurz and Uwe D. Hanebeck}, booktitle = {Proceedings of the 19th International Conference on Information Fusion (Fusion 2016)}, month = {July}, pdf = {Fusion16_nonlinearPred.pdf}, title = {Nonlinear Prediction for Circular Filtering Using Fourier Series}, year = {2016} }  Antonio Zea, Florian Faion, Uwe D. Hanebeck, Tracking Elongated Extended Objects Using Splines,Proceedings of the 19th International Conference on Information Fusion (Fusion 2016), Heidelberg, Germany, July, 2016. BibTeX: @inproceedings{Fusion16_Zea, address = {Heidelberg, Germany}, author = {Antonio Zea and Florian Faion and Uwe D. Hanebeck}, booktitle = {Proceedings of the 19th International Conference on Information Fusion (Fusion 2016)}, month = {July}, pdf = {Fusion16_Zea.pdf}, title = {Tracking Elongated Extended Objects Using Splines}, year = {2016} }  Christoph Pieper, Georg Maier, Florian Pfaff, Harald Kruggel-Emden, Siegmar Wirtz, Robin Gruna, Benjamin Noack, Viktor Scherer, Thomas Längle, Jürgen Beyerer, Uwe D. Hanebeck, Numerical Modeling of an Automated Optical Belt Sorter using the Discrete Element Method,Powder Technology, July, 2016. BibTeX: @article{PowTec16_Pieper, abstract = {Optical sorters are important devices in the processing and handling of the globally growing material streams. The precise optical sorting of many bulk solids is still difficult due to the great technical effort necessary for transport and flow control. In this study, particle separation with an automated optical belt sorter is modeled numerically. The Discrete Element Method (DEM) is used to model the sorter and calculate the particle movement as well as particle – particle and particle – wall interactions. The particle ejection stage with air valves is described with the help of a MATLAB script utilizing particle movement information obtained with the DEM. Two models for predicting the particle movement between the detection and separation phase are implemented and compared. In the first model, it is assumed that the particles are moving with belt velocity and without any cross movements and a conventional line scan camera is used for particle detection. In the second model, a more sophisticated approach is employed where the particle motion is predicted with an area scan camera combined with a tracking algorithm. In addition, the influence of different operating parameters like particle shape or conveyor belt length on the separation quality of the system is investigated. Results show that numerical simulations can offer detailed insight into the operation performance of optical sorters and help to optimize operating parameters. The area scan camera approach was found to be superior to the standard line scan camera model in almost all investigated categories.}, author = {Christoph Pieper and Georg Maier and Florian Pfaff and Harald Kruggel-Emden and Siegmar Wirtz and Robin Gruna and Benjamin Noack and Viktor Scherer and Thomas Längle and Jürgen Beyerer and Uwe D. Hanebeck}, doi = {10.1016/j.powtec.2016.07.018}, journal = {Powder Technology}, month = {July}, title = {Numerical Modeling of an Automated Optical Belt Sorter using the Discrete Element Method}, url = {http://dx.doi.org/10.1016/j.powtec.2016.07.018}, year = {2016} }  Christof Chlebek, Uwe D. Hanebeck, Approximation of Stochastic Nonlinear Closed-Loop Feedback Control with Application to Miniature Walking Robots,Proceedings of the 2016 European Control Conference (ECC 2016), Aalborg, Denmark, June, 2016. BibTeX: @inproceedings{ECC16_Chlebek, abstract = {We consider stochastic nonlinear time-variant systems with imperfect state information in the context of model predictive control. The optimal control performance can only be achieved by closed-loop policies that anticipate future behavior. However, the computation of these policies is in general not tractable due to the presence of the dual effect, i.e., the control actions not only influence the state but also the uncertainty of its estimate. Thus, we propose an approximation to closedloop control. We use a forward calculation approach, which is derived from an open-loop feedback (OLF) control setup, but implements the fundamental property of closed-loop control that future measurement feedback is considered in the optimization. By using a finite set of representative measurements, the feedback behavior is anticipated only on basis of current information. An optimization based on a continuation method implements an effective calculation to obtain a sequence of control inputs. The effectiveness of the presented approach is demonstrated by means of a miniature walking robot.}, address = {Aalborg, Denmark}, author = {Christof Chlebek and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2016 European Control Conference (ECC 2016)}, month = {June}, pdf = {ECC16_Chlebek.pdf}, title = {Approximation of Stochastic Nonlinear Closed-Loop Feedback Control with Application to Miniature Walking Robots}, year = {2016} }  Maxim Dolgov, Christof Chlebek, Uwe D. Hanebeck, Dynamic Compensation of Markov Jump Linear Systems without Mode Observation,Proceedings of the 2016 European Control Conference (ECC 2016), Aalborg, Denmark, June, 2016. BibTeX: @inproceedings{ECC16_Dolgov, abstract = {In this paper, we address control of Markov Jump Linear Systems via dynamic output feedback without mode observation. Because the optimal nonlinear control law for this problem is intractable, we assume a linear controller. Under this assumption, the control law computation can be expressed in terms of an optimization problem that involves Bilinear Matrix Inequalities. Unfortunately, this problem is NP-hard. Thus, we propose an alternative iterative algorithm and demonstrate it in a numerical example. To the best of our knowledge, the paper presents the first solution of mode-independent dynamic compensation of Markov Jump Linear Systems.}, address = {Aalborg, Denmark}, author = {Maxim Dolgov and Christof Chlebek and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2016 European Control Conference (ECC 2016)}, month = {June}, pdf = {ECC16_Dolgov.pdf}, title = {Dynamic Compensation of Markov Jump Linear Systems without Mode Observation}, year = {2016} }  Jannik Steinbring, Martin Pander, Uwe D. Hanebeck, The Smart Sampling Kalman Filter with Symmetric Samples,Journal of Advances in Information Fusion, 11(1):71–90, June, 2016. BibTeX: @article{JAIF16_Symmetric_S2KF_Steinbring, abstract = {Nonlinear Kalman Filters (KFs) are powerful and widely-used techniques when trying to estimate the hidden state of a stochastic nonlinear dynamic system. A novel sample-based KF is the Smart Sampling Kalman Filter (S²KF). It is based on deterministic Gaussian samples which are obtained from an offline optimization procedure. Although this sampling technique is quite effective, it does not preserve the point symmetry of the Gaussian distribution. In this paper, we overcome this issue by extending the S²KF with a new point-symmetric Gaussian sampling scheme to improve its estimation quality. Moreover, we also improve the numerical stability of the sample computation. This allows us to accurately approximate thousand-dimensional Gaussian distributions using tens of thousands of optimally placed and equally weighted samples. We evaluate the new symmetric S²KF by computing higher-order moments of standard normal distributions and investigate the estimation quality of the S²KF when dealing with symmetric measurement equations. Additionally, extended object tracking based on many measurements per time step is considered. This high-dimensional estimation problem shows the advantage of the S²KF being able to use an arbitrary number of samples independent of the state dimension, in contrast to other state-of-the-art sample-based Kalman Filters. Finally, other estimators also relying on the S²KF’s Gaussian sampling technique, e.g., the Progressive Gaussian Filter (PGF), will benefit from the new point-symmetric sampling as well.}, author = {Jannik Steinbring and Martin Pander and Uwe D. Hanebeck}, journal = {Journal of Advances in Information Fusion}, month = {June}, number = {1}, pages = {71--90}, pdf = {JAIF16_Steinbring.pdf}, title = {The Smart Sampling Kalman Filter with Symmetric Samples}, volume = {11}, year = {2016} }  Gerhard Kurz, Igor Gilitschenski, Uwe D. Hanebeck, Unscented von Mises–Fisher Filtering,IEEE Signal Processing Letters, 23(4):463–467, April, 2016. BibTeX: @article{SPL16_Kurz, abstract = { We introduce the unscented von Mises–Fisher filter (UvMFF), a nonlinear filtering algorithm for dynamic state estimation on the n-dimensional unit hypersphere. Estimation problems on the unit hypersphere occur in computer vision, e.g., when using omnidirectional cameras, as well as in signal processing. As approaches in literature are limited to very simple system and measurement models, we propose a deterministic sampling scheme on the unit hypersphere, which allows us to handle nonlinear system and measurement models. The proposed approach can be seen as a hyperspherical variant of the unscented Kalman filter (UKF). The advantages of the novel method are shown by means of simulations. }, author = {Gerhard Kurz and Igor Gilitschenski and Uwe D. Hanebeck}, doi = {10.1109/LSP.2016.2529854}, journal = {IEEE Signal Processing Letters}, month = {April}, number = {4}, pages = {463-467}, pdf = {Kurz-UnscentedVMF.pdf}, title = {Unscented von Mises--Fisher Filtering}, volume = {23}, year = {2016} }  Gerhard Kurz, Igor Gilitschenski, Uwe D. Hanebeck, Recursive Bayesian Filtering in Circular State Spaces,IEEE Aerospace and Electronic Systems Magazine, 31(3):70–87, March, 2016. BibTeX: @article{AES16_Kurz, abstract = {To facilitate recursive state estimation in the circular domain based on circular statistics, we introduce a general framework for estimation of a circular state based on different circular distributions. Specifically, we consider the wrapped normal (WN) distribution and the von Mises distribution. We propose an estimation method for circular systems with nonlinear system and measurement functions. This is achieved by relying on efficient deterministic sampling techniques. Furthermore, we show how the calculations can be simplified in a variety of important special cases, such as systems with additive noise, as well as identity system or measurement functions, which are illustrated using an example from aeronautics. We introduce several novel key components, particularly a distribution-free prediction algorithm, a new and superior formula for the multiplication of WN densities, and the ability to deal with nonadditive system noise. All proposed methods are thoroughly evaluated and compared with several state-of-the-art approaches.}, author = {Gerhard Kurz and Igor Gilitschenski and Uwe D. Hanebeck}, doi = {10.1109/MAES.2016.150083}, journal = {IEEE Aerospace and Electronic Systems Magazine}, month = {March}, number = {3}, pages = {70-87}, pdf = {AES16_Kurz.pdf}, title = {Recursive Bayesian Filtering in Circular State Spaces}, volume = {31}, year = {2016} }  Florian Pfaff, Christoph Pieper, Georg Maier, Benjamin Noack, Harald Kruggel-Emden, Robin Gruna, Uwe D. Hanebeck, Siegmar Wirtz, Viktor Scherer, Thomas Längle, Jürgen Beyerer, Improving Optical Sorting of Bulk Materials Using Sophisticated Motion Models,tm - Technisches Messen, De Gruyter, 83(2):77–84, February, 2016. BibTeX: @article{TM16_Pfaff, abstract = {Visual properties are powerful features to reliably classify bulk materials, thereby allowing to detect defect or low quality particles. Optical belt sorters are an established technology to sort based on these properties, but they suffer from delays between the simultaneous classification and localization step and the subsequent separation step. Therefore, accurate models to predict the particles’ motions are a necessity to bridge this gap. In this paper, we explicate our concept to use sophisticated simulations to derive accurate models and optimize the flow of bulk solids via adjustments of the sorter design. This allows us to improve overall sorting accuracy and cost efficiency. Lastly, initial results are presented.}, author = {Florian Pfaff and Christoph Pieper and Georg Maier and Benjamin Noack and Harald Kruggel-Emden and Robin Gruna and Uwe D. Hanebeck and Siegmar Wirtz and Viktor Scherer and Thomas Längle and Jürgen Beyerer}, doi = {/10.1515/teme-2015-0108}, journal = {tm - Technisches Messen, De Gruyter}, month = {February}, number = {2}, pages = {77--84}, pdf = {TM16_Pfaff.pdf}, title = {Improving Optical Sorting of Bulk Materials Using Sophisticated Motion Models}, url = {http://www.degruyter.com/view/j/teme.2016.83.issue-2/teme-2015-0108/teme-2015-0108.xml}, volume = {83}, year = {2016} }  Igor Gilitschenski, Gerhard Kurz, Simon J. Julier, Uwe D. Hanebeck, Unscented Orientation Estimation Based on the Bingham Distribution,IEEE Transactions on Automatic Control, 61(1):172–177, January, 2016. BibTeX: @article{TAC16_Gilitschenski, abstract = {In this work, we develop a recursive filter to estimate orientation in 3D, represented by quaternions, using directional distributions. Many closed-form orientation estimation algorithms are based on traditional nonlinear filtering techniques, such as the extended Kalman filter (EKF) or the unscented Kalman filter (UKF). These approaches assume the uncertainties in the system state and measurements to be Gaussian-distributed. However, Gaussians cannot account for the periodic nature of the manifold of orientations and thus small angular errors have to be assumed and ad hoc fixes must be used. In this work, we develop computationally efficient recursive estimators that use the Bingham distribution. This distribution is defined on the hypersphere and is inherently more suitable for periodic problems. As a result, these algorithms are able to consistently estimate orientation even in the presence of large angular errors. Furthermore, handling of nontrivial system functions is performed using an entirely deterministic method which avoids any random sampling. A scheme reminiscent of the UKF is proposed for the nonlinear manifold of orientations. It is the first deterministic sampling scheme that truly reflects the nonlinear manifold of orientations.}, author = {Igor Gilitschenski and Gerhard Kurz and Simon J. Julier and Uwe D. Hanebeck}, doi = {10.1109/TAC.2015.2423831}, journal = {IEEE Transactions on Automatic Control}, month = {January}, number = {1}, pages = {172-177}, pdf = {TAC16_Gilitschenski.pdf}, title = {Unscented Orientation Estimation Based on the Bingham Distribution}, volume = {61}, year = {2016} }  2015 Gerhard Kurz, Uwe D. Hanebeck, Parameter Estimation for the Bivariate Wrapped Normal Distribution,Proceedings of the 54th IEEE Conference on Decision and Control (CDC 2015), Osaka, Japan, December, 2015. BibTeX: @inproceedings{CDC15_Kurz, abstract = {Correlated uncertain angular quantities can be modeled using the bivariate wrapped normal distribution. In this paper, we focus on the problem of estimating the distribution’s parameters from a given set of samples. For this purpose, we propose several new parameter estimation methods and compare them to estimation techniques found in literature. All methods are thoroughly evaluated in simulations. One of the novel methods is shown to combine the advantages of maximum likelihood estimation and moment-based methods, thus outperforming current state-of-the-art techniques.}, address = {Osaka, Japan}, author = {Gerhard Kurz and Uwe D. Hanebeck}, booktitle = {Proceedings of the 54th IEEE Conference on Decision and Control (CDC 2015)}, month = {December}, pdf = {CDC15_Kurz.pdf}, title = {Parameter Estimation for the Bivariate Wrapped Normal Distribution}, year = {2015} }  Maxim Dolgov, Gerhard Kurz, Uwe D. Hanebeck, Chance-constrained Model Predictive Control based on Box Approximations,Proceedings of the 54th IEEE Conference on Decision and Control (CDC 2015), Osaka, Japan, December, 2015. BibTeX: @inproceedings{CDC15_Dolgov, abstract = {In this paper, we consider finite-horizon predictive control of linear stochastic systems with chance constraints where the admissible region is a convex polytope. For this problem, we present a novel solution approach based on box approximations. The key notion of our approach consists of two steps. First, we apply a linear operation to the joint state probability density function such that its covariance is transformed into an identity matrix. This operation also defines the transformation of the state space and, therefore, of the admissible polytope. Second, we approximate the admissible region from the inside using axis-aligned boxes. By doing so, we obtain a conservative approximation of the constraint violation probability virtually in closed form (the expression contains Gaussian error functions). The presented control approach is demonstrated in a numerical example.}, address = {Osaka, Japan}, author = {Maxim Dolgov and Gerhard Kurz and Uwe D. Hanebeck}, booktitle = {Proceedings of the 54th IEEE Conference on Decision and Control (CDC 2015)}, month = {December}, pdf = {CDC15_Dolgov.pdf}, title = {Chance-constrained Model Predictive Control based on Box Approximations}, year = {2015} }  Joris Sijs, Benjamin Noack, Mircea Lazar, Uwe D. Hanebeck, Event-Based Control and Signal Processing,pp. 261–279, CRC Press, November, 2015. BibTeX: @incollection{CRC15_Sijs, abstract = {To reduce the amount of data transfers in networked systems, measurements can be taken at an event on the sensor value rather than periodically in time. Yet, this could lead to a divergence of estimation results when only the received measurement values are exploited in a state estimation procedure. A solution to this issue has been found by developing estimators that perform a state update at both the event instants as well as periodically in time: when an event occurs the estimated state is updated using the measurement received, while at periodic instants the update is based on knowledge that the sensor value lies within a bounded subset of the measurement space. Several solutions for event-based state estimation will be presented in this chapter, either based on stochastic representations of random vectors, on deterministic representations of random vectors or on a mixture of the two. All solutions aim to limit the required computational resources by deriving explicit solutions for computing estimation results. Yet, the main achievement for each estimation solution is that stability of the estimation results are (not directly) dependent on the employed event sampling strategy. As such, changing the event sampling strategy does not imply to change the event-based estimator as well. This aspect is also illustrated in a case study of tracking the distribution of a chemical compound effected by wind via a wireless sensor network.}, author = {Joris Sijs and Benjamin Noack and Mircea Lazar and Uwe D. Hanebeck}, chapter = {Time-Periodic State Estimation with Event-Based Measurement Updates}, editor = {Marek Miskowicz}, month = {November}, pages = {261--279}, publisher = {CRC Press}, title = {Event-Based Control and Signal Processing}, url = {http://www.crcnetbase.com/isbn/9781482256567}, year = {2015} }  Gerhard Kurz, Uwe D. Hanebeck, Trigonometric Moment Matching and Minimization of the Kullback–Leibler Divergence,IEEE Transactions on Aerospace and Electronic Systems, 51(1):3480–3484, October, 2015. BibTeX: @article{TAES15_Kurz, abstract = {We show an important property of the von Mises distribution on the unit circle. If we approximate an arbitrary circular distribution using a von Mises distribution, the result obtained by trigonometric moment matching also minimizes the Kullback–Leibler divergence (Theorem 1). This result is a justification for circular filtering algorithms based on trigonometric moment matching as the loss of information is minimized. Furthermore, we show that Theorem 1 does not hold for the wrapped normal distribution.}, author = {Gerhard Kurz and Uwe D. Hanebeck}, doi = {10.1109/TAES.2015.150406}, journal = {IEEE Transactions on Aerospace and Electronic Systems}, month = {October}, number = {1}, pages = {3480-3484}, pdf = {TAES15_Kurz.pdf}, title = {Trigonometric Moment Matching and Minimization of the Kullback--Leibler Divergence}, volume = {51}, year = {2015} }  Marcus Baum, Peter Willett, Uwe D. Hanebeck, On Wasserstein Barycenters and MMOSPA Estimation,IEEE Signal Processing Letters, 22(10):1511–1515, October, 2015. BibTeX: @article{SPL15_Baum, author = {Marcus Baum and Peter Willett and Uwe D. Hanebeck}, doi = {10.1109/LSP.2015.2410217}, journal = {IEEE Signal Processing Letters}, month = {October}, number = {10}, pages = {1511-1515}, title = {On Wasserstein Barycenters and MMOSPA Estimation}, url = {https://ieeexplore.ieee.org/document/7054438/}, volume = {22}, year = {2015} }  Florian Faion, Antonio Zea, Jannik Steinbring, Marcus Baum, Uwe D. Hanebeck, Recursive Bayesian Pose and Shape Estimation of 3D Objects Using Transformed Plane Curves,Proceedings of the IEEE ISIF Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF 2015), Bonn, Germany, October, 2015. BibTeX: @inproceedings{SDF15_Faion, abstract = {We consider the task of recursively estimating the pose and shape parameters of 3D objects based on noisy point cloud measurements from their surface. We focus on objects whose surface can be constructed by transforming a plane curve, such as a cylinder that is constructed by extruding a circle. However, designing estimators for such objects is challenging, as the straightforward distance-minimizing approach cannot observe all parameters, and additionally is subject to bias in the presence of noise. In this article, we first discuss these issues and then develop probabilistic models for cylinder, torus, cone, and an extruded curve by adapting related approaches including Random Hypersurface Models, partial likelihood, and symmetric shape models. In experiments with simulated data, we show that these models yield unbiased estimators for all parameters even in the presence of high noise.}, address = {Bonn, Germany}, author = {Florian Faion and Antonio Zea and Jannik Steinbring and Marcus Baum and Uwe D. Hanebeck}, booktitle = {Proceedings of the IEEE ISIF Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF 2015)}, month = {October}, pdf = {SDF15_Faion.pdf}, title = {Recursive Bayesian Pose and Shape Estimation of 3D Objects Using Transformed Plane Curves}, year = {2015} }  Gerhard Kurz, Uwe D. Hanebeck, Stochastic Sampling of the Hyperspherical von Mises–Fisher Distribution Without Rejection Methods,Proceedings of the IEEE ISIF Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF 2015), Bonn, Germany, October, 2015. BibTeX: @inproceedings{SDF15_Kurz, abstract = {We propose a novel sampling algorithm for the von Mises–Fisher distribution on the unit hypersphere. Unlike previous works, we show a solution for an arbitrary number of dimensions without requiring rejection sampling. As a result, the proposed algorithm has a deterministic runtime. The key idea consists in applying the inversion method to a one-dimensional subproblem and analytically calculating the integral occurring in the distribution function. The proposed method is most efficient for odd numbers of dimensions. We compare the algorithm to a state-of-the-art rejection sampling method in simulations.}, address = {Bonn, Germany}, author = {Gerhard Kurz and Uwe D. Hanebeck}, booktitle = {Proceedings of the IEEE ISIF Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF 2015)}, month = {October}, pdf = {SDF15_Kurz-VMFSampling.pdf}, title = {Stochastic Sampling of the Hyperspherical von Mises--Fisher Distribution Without Rejection Methods}, year = {2015} }  Marcus Baum, Benjamin Noack, Uwe D. Hanebeck, Kalman Filter-based SLAM with Unknown Data Association using Symmetric Measurement Equations,Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2015), San Diego, California, USA, September, 2015. BibTeX: @inproceedings{MFI15_Baum, abstract = {This work investigates a novel method for dealing with unknown data associations in Kalman filter-based Simultaneous Localization and Mapping (SLAM) problems. The key idea is to employ the concept of Symmetric Measurement Equations (SMEs) in order to remove the data association uncertainty from the original measurement equation. Based on the resulting modified measurement equation, standard nonlinear Kalman filters can estimate the full joint state vector of the robot and landmarks without explicitly calculating data association hypotheses.}, address = {San Diego, California, USA}, author = {Marcus Baum and Benjamin Noack and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2015)}, month = {September}, pdf = {MFI15_Baum.pdf}, title = {Kalman Filter-based SLAM with Unknown Data Association using Symmetric Measurement Equations}, year = {2015} }  Florian Faion, Marcus Baum, Antonio Zea, Uwe D. Hanebeck, Depth Sensor Calibration by Tracking an Extended Object,Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2015), San Diego, California, USA, September, 2015. BibTeX: @inproceedings{MFI15_Faion, abstract = {In this paper, we propose a novel algorithm for automatically calibrating a network of depth sensors, based on a moving calibration object. The sensors may have non-overlapping fields of view in order to avoid interference. Two major challenges are discussed. First, depending on where the object is located relative to the sensor, the number and quality of the measurements strongly varies. Second, a single depth sensor observes the calibration object only from one side. Dealing with these challenges requires a simple calibration object as well as an algorithm that can deal with under-determined measurements of varying quality. A recursive Bayesian estimator is developed that determines the extrinsic parameters by measuring the surface of a moving cube with known pose. Our approach does not restrict the configuration of the network and requires no manual initialization or interaction. Ambiguities that are induced by the rotational cube symmetries are resolved by applying a multiple model approach. Besides synthetic evaluation we perform real data experiments and compare to state-of-the-art calibration.}, address = {San Diego, California, USA}, author = {Florian Faion and Marcus Baum and Antonio Zea and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2015)}, month = {September}, pdf = {MFI15_Faion.pdf}, title = {Depth Sensor Calibration by Tracking an Extended Object}, year = {2015} }  Igor Gilitschenski, Gerhard Kurz, Uwe D. Hanebeck, A Stochastic Filter for Planar Rigid-Body Motions,Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2015), San Diego, California, USA, September, 2015. BibTeX: @inproceedings{MFI15_Gilitschenski, abstract = {This paper presents a novel algorithm for the estimation of planar rigid-body motions. It is based on using a probability distribution that is inherently defined on the non- linear manifold representing these motions and on proposing a deterministic sampling scheme that makes consideration of complicated system models possible. Furthermore, we show that the measurement update for a manifold equivalent to noisy direct measurements can be carried out in closed form. Thus, the resulting method avoids errors made due to local linearization and outperforms methods that wrongly assume Gaussian distributions, which we show by comparing the proposed filter to the UKF.}, address = {San Diego, California, USA}, author = {Igor Gilitschenski and Gerhard Kurz and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2015)}, month = {September}, pdf = {MFI15_Gilitschenski.pdf}, title = {A Stochastic Filter for Planar Rigid-Body Motions}, year = {2015} }  Uwe D. Hanebeck, Bayesian Fusion of Empirical Distributions Based on Local Density Reconstruction,Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2015), San Diego, California, USA, September, 2015. BibTeX: @inproceedings{MFI15_Hanebeck, abstract = {Fusing two random vectors is simple, when they are characterized by continuous probability functions. According to Bayes' law, fusion then consists of multiplying the two densities. When only empirical distributions are given and a resulting empirical distribution is desired, Bayes' law is no longer applicable. Obviously, fusion could now be performed by reconstructing the underlying continuous densities, subsequent multiplication, and sampling of the result. As this is overly complicated, our goal is to perform a direct Bayesian fusion of the two given empirical distributions. We devise a generalized multiplication procedure that mutually reweights appropriate points of one density by local density values of the other density. The density values are efficiently estimated locally by nearest neighbor operations. The method is symmetric in the sense that it uses points from both densities.}, address = {San Diego, California, USA}, author = {Uwe D. Hanebeck}, booktitle = {Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2015)}, month = {September}, pdf = {MFI15_Hanebeck.pdf}, title = {Bayesian Fusion of Empirical Distributions Based on Local Density Reconstruction}, year = {2015} }  Gerhard Kurz, Uwe D. Hanebeck, Toroidal Information Fusion Based on the Bivariate von Mises Distribution,Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2015), San Diego, California, USA, September, 2015. Nominee Best Paper Award Certificate (PDF) BibTeX: @inproceedings{MFI15_Kurz, abstract = {Fusion of toroidal information, such as correlated angles, is a problem that arises in many fields ranging from robotics and signal processing to meteorology and bioinfor- matics. For this purpose, we propose a novel fusion method based on the bivariate von Mises distribution. Unlike most literature on the bivariate von Mises distribution, we consider the full version with matrix-valued parameter rather than a simplified version. By doing so. we are able to derive the exact analytical computation of the fusion operation. We also propose an efficient approximation of the normalization constant including an error bound and present a parameter estimation algorithm based on a maximum likelihood approach. The presented algorithms are illustrated through examples.}, address = {San Diego, California, USA}, annote = {Nominee Best Paper Award Certificate (PDF)}, author = {Gerhard Kurz and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2015)}, month = {September}, pdf = {MFI15_Kurz.pdf}, title = {Toroidal Information Fusion Based on the Bivariate von Mises Distribution}, year = {2015} }  Benjamin Noack, Marcus Baum, Uwe D. Hanebeck, State Estimation for Ellipsoidally Constrained Dynamic Systems with Set-Membership Pseudo Measurements,Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2015), San Diego, California, USA, September, 2015. BibTeX: @inproceedings{MFI15_Noack, abstract = {In many dynamic systems, the evolution of the state is subject to specific constraints. In general, constraints cannot easily be integrated into the prediction-correction structure of the Kalman filter algorithm. Linear equality constraints are an exception to this rule and have been widely used and studied as they allow for simple closed-form expressions. A common approach is to reformulate equality constraints into pseudo measurements of the state to be estimated. However, equality constraints define deterministic relationships between state components which is an undesirable property in Kalman filtering as this leads to singular covariance matrices. A second problem relates to the knowledge required to identify and define precise constraints, which are met by the system state. In this article, ellipsoidal constraints are introduced that can be employed to model a bounded region, to which the system state is constrained. This concept constitutes an easy-to-use relaxation of equality constraints. In order to integrate ellipsoidal constraints into the Kalman filter structure, a generalized filter framework is utilized that relies on a combined stochastic and set-membership uncertainty representation.}, address = {San Diego, California, USA}, author = {Benjamin Noack and Marcus Baum and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2015)}, month = {September}, pdf = {MFI15_Noack.pdf}, title = {State Estimation for Ellipsoidally Constrained Dynamic Systems with Set-Membership Pseudo Measurements}, year = {2015} }  Florian Pfaff, Marcus Baum, Benjamin Noack, Uwe D. Hanebeck, Robin Gruna, Thomas Längle, Jürgen Beyerer, TrackSort: Predictive Tracking for Sorting Uncooperative Bulk Materials,Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2015), San Diego, California, USA, September, 2015. BibTeX: @inproceedings{MFI15_Pfaff, abstract = {Optical belt sorters are a versatile, state-of-the-art technology to sort bulk materials that are hard to sort based on only nonvisual properties. In this paper, we propose an extension to current optical belt sorters that involves replacing the line camera with an area camera to observe a wider field of view, allowing us to observe each particle over multiple time steps. By performing multitarget tracking, we are able to improve the prediction of each particle's movement and thus enhance the performance of the utilized separation mechanism. We show that our approach will allow belt sorters to handle new classes of bulk materials while improving cost efficiency. Furthermore, we lay out additional extensions that are made possible by our new paradigm}, address = {San Diego, California, USA}, author = {Florian Pfaff and Marcus Baum and Benjamin Noack and Uwe D. Hanebeck and Robin Gruna and Thomas Längle and Jürgen Beyerer}, booktitle = {Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2015)}, month = {September}, pdf = {MFI15_Pfaff.pdf}, title = {TrackSort: Predictive Tracking for Sorting Uncooperative Bulk Materials}, year = {2015} }  Jannik Steinbring, Marcus Baum, Antonio Zea, Florian Faion, Uwe D. Hanebeck, A Closed-Form Likelihood for Particle Filters to Track Extended Objects with Star-Convex RHMs,Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2015), San Diego, California, USA, September, 2015. BibTeX: @inproceedings{MFI15_Steinbring, abstract = {Modeling 2D extended targets with star-convex Random Hypersurface Models (RHMs) allows for accurate object pose and shape estimation. A star-convex RHM models the shape of an object with the aid of a radial function that describes the distance from the object center to any point on its boundary. However, up to now only linear estimators, i.e., Kalman Filters, are used due to the lack of a explicit likelihood function. In this paper, we propose a closed-form and easy to implement likelihood function for tracking extended targets with star-convex RHMs. This makes it possible to apply nonlinear estimators such as Particle Filters to estimate a detailed shape of a target. We compared the proposed likelihood against the usual Kalman filter approaches with tracking pose and shape of an airplane in 2D. The evaluations showed that the combination of the Progressive Gaussian Filter (PGF) and the new likelihood function delivers the best estimation performance and can outperform the usually employed Kalman Filters.}, address = {San Diego, California, USA}, author = {Jannik Steinbring and Marcus Baum and Antonio Zea and Florian Faion and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2015)}, month = {September}, pdf = {MFI15_Steinbring.pdf}, title = {A Closed-Form Likelihood for Particle Filters to Track Extended Objects with Star-Convex RHMs}, year = {2015} }  Antonio Zea, Florian Faion, Uwe D. Hanebeck, Shape Tracking using Partial Information Models,Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2015), San Diego, California, USA, September, 2015. BibTeX: @inproceedings{MFI15_Zea, abstract = {One of the challenges in shape tracking is how to deal with associating measurements to sources in the shape, while also taking to account parameters such as shape curvature and noise characteristics. Partial Information Models (PIMs) introduce a new approach that addresses this issue. The idea is to reparametrize each measurement into two components, one which depends on the position of its source on the shape, and another which depends on how well it fits in the shape. This allows for the derivation of a partial likelihood which combines the strengths of probabilistic approaches and distance minimization techniques. We propose an implementation of PIMs using level-sets, which allow for a close approximation of the distribution of distances we expect for a given shape. In turn, this can be used to develop estimators that are highly robust against high noise and occlusions.}, address = {San Diego, California, USA}, author = {Antonio Zea and Florian Faion and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2015)}, month = {September}, pdf = {MFI15_Zea.pdf}, title = {Shape Tracking using Partial Information Models}, year = {2015} }  Marc Reinhardt, Benjamin Noack, Pablo O. Arambel, Uwe D. Hanebeck, Minimum Covariance Bounds for the Fusion under Unknown Correlations,IEEE Signal Processing Letters, 22(9):1210–1214, September, 2015. BibTeX: @article{SPL15_Reinhardt, abstract = {One of the key challenges in distributed linear estimation is the systematic fusion of estimates. While the fusion gains that minimize the mean squared error of the fused estimate for known correlations have been established, no analogous statement could be obtained so far for unknown correlations. In this contribution, we derive the gains that minimize the bound on the true covariance of the fused estimate and prove that Covariance Intersection (CI) is the optimal bounding algorithm for two estimates under completely unknown correlations. When combining three or more variables, the CI equations are not necessarily optimal, as shown by a counterexample.}, author = {Marc Reinhardt and Benjamin Noack and Pablo O. Arambel and Uwe D. Hanebeck}, doi = {10.1109/LSP.2015.2390417}, journal = {IEEE Signal Processing Letters}, month = {September}, number = {9}, pages = {1210--1214}, pdf = {SPL15_Reinhardt.pdf}, title = {Minimum Covariance Bounds for the Fusion under Unknown Correlations}, url = {http://dx.doi.org/10.1109/LSP.2015.2390417}, volume = {22}, year = {2015} }  Benjamin Noack, Joris Sijs, Marc Reinhardt, Uwe D. Hanebeck, Treatment of Dependent Information in Multisensor Kalman Filtering and Data Fusion,Multisensor Data Fusion: From Algorithms and Architectural Design to Applications, pp. 169––192, CRC Press, August, 2015. BibTeX: @incollection{CRC15_Noack, abstract = {Distributed and decentralized processing and fusion of sensor data are becoming increasingly important. In view of the Internet of Things and the vision of ubiquitous sensing, designing and implementing multisensor state estimation algorithm have already become a key issue. A network of interconnected sensor devices is usually characterized by the idea to process and collect data locally and independently on the sensor nodes. However, this does not imply that the data are independent of each other, and the state estimation algorithms have to address possible interdependencies so as to avoid erroneous data fusion results. Dependencies among local estimates generally can be traced back to common sensor information and common process noise. A wide variety of Kalman filtering schemes allow for the treatment of dependent data in centralized, distributed, and decentralized networks of sensor nodes, but making the right choice is itself dependent upon analyzing and weighing up the different advantages and disadvantages. This chapter discusses different strategies to identify and treat dependencies among Kalman filter estimates while pointing out advantages and challenges.}, author = {Benjamin Noack and Joris Sijs and Marc Reinhardt and Uwe D. Hanebeck}, booktitle = {Multisensor Data Fusion: From Algorithms and Architectural Design to Applications}, editor = {Hassen Fourati}, month = {August}, pages = {169–-192}, publisher = {CRC Press}, title = {Treatment of Dependent Information in Multisensor Kalman Filtering and Data Fusion}, url = {http://www.crcnetbase.com/doi/book/10.1201/b18851}, year = {2015} }  Marcus Baum, Balakumar Balasingam, Peter Willett, Uwe D. Hanebeck, OSPA Barycenters for Clustering Set-Valued Data,Proceedings of the 18th International Conference on Information Fusion (Fusion 2015), Washington D.C., USA, July, 2015. BibTeX: @inproceedings{Fusion15_Baum, abstract = {We consider the problem of clustering set-valued observations, i.e., each observation is a set that consists of a finite number of real vectors. For this purpose, we develop a $k$-means algorithm that employs the OSPA distance for measuring the distance between sets. In particular, we introduce a novel alternating optimization algorithm for the OSPA barycenter of sets with varying cardinalities that is required for calculating cluster centroids efficiently. The benefits of clustering set-valued data with respect to the OSPA distance are illustrated by means of simulated experiments in the context of target tracking and recognition.}, address = {Washington D.C., USA}, author = {Marcus Baum and Balakumar Balasingam and Peter Willett and Uwe D. Hanebeck}, booktitle = {Proceedings of the 18th International Conference on Information Fusion (Fusion 2015)}, month = {July}, pdf = {Fusion15_Baum.pdf}, title = {OSPA Barycenters for Clustering Set-Valued Data}, year = {2015} }  Christof Chlebek, Uwe D. Hanebeck, Stochastic Nonlinear Model Predictive Control Based on Deterministic Scenario Generation,Proceedings of the 18th International Conference on Information Fusion (Fusion 2015), Washington D.C., USA, July, 2015. BibTeX: @inproceedings{Fusion15_Chlebek, abstract = {We consider closed-loop feedback (CLF) stochastic model predictive control of nonlinear time-invariant systems with imperfect state information. In this class of control problems, future information feedback is considered in the decision making process, and thus, the effect of the control influencing the state uncertainty is taken into account. The main challenge in the solution is to find a good approximation to the arising stochastic dynamic programming problem, which is computationally not tractable. In this work, future information is considered in the form of conditional state probability densities. Thus, the objective is it to optimize the state and its uncertainty as a combined problem. We propose to discretize the state space by a novel scenario generation approach based on deterministic sampling. A distance based threshold determines the narrowness of the discretization. The dynamic programming problem is formulated such that the approximate cumulative control cost function can be explicitly evaluated offline. The online calculation consists of a one-step prediction and the interpolation of the explicit cost function in order to calculate the control input. The effectiveness of this novel method is presented by means of a simulation.}, address = {Washington D.C., USA}, author = {Christof Chlebek and Uwe D. Hanebeck}, booktitle = {Proceedings of the 18th International Conference on Information Fusion (Fusion 2015)}, month = {July}, pdf = {Fusion15_Chlebek.pdf}, title = {Stochastic Nonlinear Model Predictive Control Based on Deterministic Scenario Generation}, year = {2015} }  Florian Faion, Antonio Zea, Marcus Baum, Uwe D. Hanebeck, Partial Likelihood for Unbiased Extended Object Tracking,Proceedings of the 18th International Conference on Information Fusion (Fusion 2015), Washington D.C., USA, July, 2015. BibTeX: @inproceedings{Fusion15_Faion, abstract = {An extended object gives rise to several measurements that originate from unknown measurement sources on the object. In this paper, we consider the tracking and parameter estimation of extended objects that are modeled as a curve in 2D such as a circle or an ellipse. A standard model for such extended objects is to assume that the unknown measurement sources are uniformly distributed on the curve. We argue that the uniform distribution may not be the best choice in scenarios where the true distribution of the measurements significantly differs from a uniform distribution. Based on results from curve fitting and errors-in-variables models, we develop a partial likelihood that ignores the distribution of measurement sources and can be shown to outperform the likelihood for a uniform distribution in these scenarios. If the true measurement sources are in fact uniformly distributed, our new likelihood results in a slightly slower convergence but has the same asymptotic behavior.}, address = {Washington D.C., USA}, author = {Florian Faion and Antonio Zea and Marcus Baum and Uwe D. Hanebeck}, booktitle = {Proceedings of the 18th International Conference on Information Fusion (Fusion 2015)}, month = {July}, pdf = {Fusion15_Faion.pdf}, title = {Partial Likelihood for Unbiased Extended Object Tracking}, year = {2015} }  Igor Gilitschenski, Gerhard Kurz, Uwe D. Hanebeck, Non-Identity Measurement Models for Orientation Estimation Based on Directional Statistics,Proceedings of the 18th International Conference on Information Fusion (Fusion 2015), Washington D.C., USA, July, 2015. BibTeX: @inproceedings{Fusion15_Gilitschenski, abstract = {We propose a novel measurement update procedure for orientation estimation algorithms that are based on directional statistics. This involves consideration of two scenarios, orientation estimation in the 2D plane and orientation estimation in three-dimensional space. We make use of the von Mises distribution and the Bingham distribution in these scenarios. In the derivation, we discuss directional counterparts to the extended Kalman filter and a statistical-linearization-based filter. The newly proposed algorithm makes use of deterministic sampling and can be thought of as a directional variant of the measurement update that is used in well-known sample-based algorithms such as the unscented Kalman filter.}, address = {Washington D.C., USA}, author = {Igor Gilitschenski and Gerhard Kurz and Uwe D. Hanebeck}, booktitle = {Proceedings of the 18th International Conference on Information Fusion (Fusion 2015)}, month = {July}, pdf = {Fusion15_Gilitschenski.pdf}, title = {Non-Identity Measurement Models for Orientation Estimation Based on Directional Statistics}, year = {2015} }  Uwe D. Hanebeck, Marcus Baum, Association-Free Direct Filtering of Multi-Target Random Finite Sets with Set Distance Measures,Proceedings of the 18th International Conference on Information Fusion (Fusion 2015), Washington D.C., USA, July, 2015. BibTeX: @inproceedings{Fusion15_Hanebeck-AssociationFreeTracking, abstract = {We consider association-free tracking of multiple targets without identities. The uncertain multi-target state and the uncertain measurements cannot be described by a random vector as this would imply a certain order. Instead, they are described by an unordered random finite set (RFS). Particle-based random finite set densities are used for characterizing the RFS in a simple and natural way. For recursive Bayesian filtering, optimal multi-target state estimates are calculated by systematically minimizing an appropriate set distance measure while directly operating on the particles. Although methods for calculating point estimates of random finite set densities based on appropriate distance measures are available in literature, the proposed recursive filtering is a novel contribution.}, address = {Washington D.C., USA}, author = {Uwe D. Hanebeck and Marcus Baum}, booktitle = {Proceedings of the 18th International Conference on Information Fusion (Fusion 2015)}, month = {July}, pdf = {Fusion15_Hanebeck-AssociationFreeTracking.pdf}, title = {Association-Free Direct Filtering of Multi-Target Random Finite Sets with Set Distance Measures}, year = {2015} }  Uwe D. Hanebeck, Maxim Dolgov, Adaptive Lower Bounds for Gaussian Measures of Polytopes,Proceedings of the 18th International Conference on Information Fusion (Fusion 2015), Washington D.C., USA, July, 2015. BibTeX: @inproceedings{Fusion15_Hanebeck-Polytopes, abstract = {In this paper, we address the problem of probability mass computation of a multivariate Gaussian contained within a polytope. This computation requires an evaluation of a multivariate definite integral of the Gaussian, whose solution is not tractable for higher dimensions in a reasonable amount of time. Thus, research concentrates on the derivation of approximate but sufficiently fast computation methods. We propose a novel approach that approximates the underlying integration domain, namely the polytope, using disjoint sectors such that the probability mass contained within the sectors is maximized. In order to derive our main algorithm, we first propose an approach to approximate volume computation of a polytope using disjoint sectors. This solution is then extended to the computation of the probability mass of a Gaussian contained within the polytope. The presented solution provides a lower bound on the true probability mass contained within the polytope. Because the initial optimization problem is highly nonlinear, we propose a greedy algorithm that splits the sectors with the highest probability mass.}, address = {Washington D.C., USA}, author = {Uwe D. Hanebeck and Maxim Dolgov}, booktitle = {Proceedings of the 18th International Conference on Information Fusion (Fusion 2015)}, month = {July}, pdf = {Fusion15_Hanebeck-Polytopes.pdf}, title = {Adaptive Lower Bounds for Gaussian Measures of Polytopes}, year = {2015} }  Gerhard Kurz, Uwe D. Hanebeck, Heart Phase Estimation Using Directional Statistics for Robotic Beating Heart Surgery,Proceedings of the 18th International Conference on Information Fusion (Fusion 2015), Washington D.C., USA, July, 2015. BibTeX: @inproceedings{Fusion15_Kurz, abstract = {Robotic beating heart surgery requires accurate information about the current state of the heart. For this purpose, it is of great importance to have a good estimate of the heart's current phase, which in essence corresponds to the percentage of the current heart cycle that has already passed. Estimation of the heart phase is a highly nontrivial problem as the heart motion is not exactly periodic. On the contrary, it varies slightly from beat to beat and changes in frequency over time. In order to derive a robust phase estimation algorithm, we rely on directional statistics, a subfield of statistics that deals with quantities that are inherently periodic, such as the phase of the beating heart. The proposed methods are evaluated on a real data set and shown to be superior to the state of the art.}, address = {Washington D.C., USA}, author = {Gerhard Kurz and Uwe D. Hanebeck}, booktitle = {Proceedings of the 18th International Conference on Information Fusion (Fusion 2015)}, month = {July}, pdf = {Fusion15_Kurz.pdf}, title = {Heart Phase Estimation Using Directional Statistics for Robotic Beating Heart Surgery}, year = {2015} }  Benjamin Noack, Simon J. Julier, Uwe D. Hanebeck, Treatment of Biased and Dependent Sensor Data in Graph-based SLAM,Proceedings of the 18th International Conference on Information Fusion (Fusion 2015), Washington D.C., USA, July, 2015. BibTeX: @inproceedings{Fusion15_Noack, abstract = {A common approach to attack the simultaneous localization and mapping problem (SLAM) is to consider factor-graph formulations of the underlying filtering and estimation setup. While Kalman filter-based methods provide an estimate for the current pose of a robot and all landmark positions, graph-based approaches take not only the current pose into account but also the entire trajectory of the robot and have to solve a nonlinear least-squares optimization problem. Using graph-based representations has proven to be highly scalable and very accurate as compared with traditional filter-based approaches. However, biased measurements as well as unmodeled correlations can lead to a sharp deterioration in the estimation quality and hence require careful consideration. In this paper, a method to incorporate biased or dependent measurement information is proposed that can easily be integrated into existing optimization algorithms for graph-based SLAM. For biased sensor data, techniques from ellipsoidal calculus are employed to compute the corresponding information matrices. Dependencies among noise terms are treated by a generalization of the covariance intersection concept. The treatment of both biased and correlated sensor data rest upon the inflation of the involved error matrices. Simulations are used to discuss and evaluate the proposed method.}, address = {Washington D.C., USA}, author = {Benjamin Noack and Simon J. Julier and Uwe D. Hanebeck}, booktitle = {Proceedings of the 18th International Conference on Information Fusion (Fusion 2015)}, month = {July}, pdf = {Fusion15_Noack.pdf}, title = {Treatment of Biased and Dependent Sensor Data in Graph-based SLAM}, year = {2015} }  Florian Pfaff, Gerhard Kurz, Uwe D. Hanebeck, Multimodal Circular Filtering Using Fourier Series,Proceedings of the 18th International Conference on Information Fusion (Fusion 2015), Washington D.C., USA, July, 2015. BibTeX: @inproceedings{Fusion15_Pfaff, abstract = {Recursive filtering with multimodal likelihoods and transition densities on periodic manifolds is, despite the compact domain, still an open problem. We propose a novel filter for the circular case that performs well compared to other state-of-the-art filters adopted from linear domains. The filter uses a limited number of Fourier coefficients of the square root of the density. This representation is preserved throughout filter and prediction steps and allows obtaining a valid density at any point in time. Additionally, analytic formulae for calculating Fourier coefficients of the square root of some common circular densities are provided. In our evaluation, we show that this new filter performs well in both unimodal and multimodal scenarios while requiring only a reasonable number of coefficients.}, address = {Washington D.C., USA}, author = {Florian Pfaff and Gerhard Kurz and Uwe D. Hanebeck}, booktitle = {Proceedings of the 18th International Conference on Information Fusion (Fusion 2015)}, month = {July}, pdf = {Fusion15_Pfaff.pdf}, title = {Multimodal Circular Filtering Using Fourier Series}, year = {2015} }  Jannik Steinbring, Uwe D. Hanebeck, GPU-Accelerated Progressive Gaussian Filtering with Applications to Extended Object Tracking,Proceedings of the 18th International Conference on Information Fusion (Fusion 2015), Washington D.C., USA, July, 2015. BibTeX: @inproceedings{Fusion15_Steinbring, abstract = {Since the last years, Graphics Processing Units (GPUs) have massive parallel execution capabilities even for non-graphic related applications. The field of nonlinear state estimation is no exception here. Particle Filters have already been successfully ported to GPUs. In this paper, we propose a GPU-accelerated variant of the Progressive Gaussian Filter (PGF). This allows us to combine the advantages of the particle flow with the ability to process thousands of measurements at once in order to improve state estimation quality. To get a meaningful comparison between its CPU and GPU variants, we additionally propose a likelihood for tracking a sphere and its extent in 3D based on noisy point measurements. The likelihood considers the physical relationship between sensor, measurement, and sphere to best exploit the information of the received measurements. We evaluate the GPU implementation of the PGF using the proposed likelihood in combination with tens of thousands of measurements. Although the CPU implementation fully exploits parallelization techniques such as SSE and OpenMP, the GPU-accelerated PGF reaches speedups over 20 and real-time tracking can nearly be achieved.}, address = {Washington D.C., USA}, author = {Jannik Steinbring and Uwe D. Hanebeck}, booktitle = {Proceedings of the 18th International Conference on Information Fusion (Fusion 2015)}, month = {July}, pdf = {Fusion15_Steinbring.pdf}, title = {GPU-Accelerated Progressive Gaussian Filtering with Applications to Extended Object Tracking}, year = {2015} }  Antonio Zea, Florian Faion, Uwe D. Hanebeck, Exploiting Clutter: Negative Information for Enhanced Extended Object Tracking,Proceedings of the 18th International Conference on Information Fusion (Fusion 2015), Washington D.C., USA, July, 2015. BibTeX: @inproceedings{Fusion15_Zea, abstract = {Since the last years, Graphics Processing Units (GPUs) have massive parallel execution capabilities even for non-graphic related applications. The field of nonlinear state estimation is no exception here. Particle Filters have already been successfully ported to GPUs. In this paper, we propose a GPU-accelerated variant of the Progressive Gaussian Filter (PGF). This allows us to combine the advantages of the particle flow with the ability to process thousands of measurements at once in order to improve state estimation quality. To get a meaningful comparison between its CPU and GPU variants, we additionally propose a likelihood for tracking a sphere and its extent in 3D based on noisy point measurements. The likelihood considers the physical relationship between sensor, measurement, and sphere to best exploit the information of the received measurements. We evaluate the GPU implementation of the PGF using the proposed likelihood in combination with tens of thousands of measurements. Although the CPU implementation fully exploits parallelization techniques such as SSE and OpenMP, the GPU-accelerated PGF reaches speedups over 20 and real-time tracking can nearly be achieved.}, address = {Washington D.C., USA}, author = {Antonio Zea and Florian Faion and Uwe D. Hanebeck}, booktitle = {Proceedings of the 18th International Conference on Information Fusion (Fusion 2015)}, month = {July}, pdf = {Fusion15_Zea.pdf}, title = {Exploiting Clutter: Negative Information for Enhanced Extended Object Tracking}, year = {2015} }  Maxim Dolgov, Jörg Fischer, Uwe D. Hanebeck, Infinite-Horizon Sequence-based Networked Control without Acknowledgments,Proceedings of the 2015 American Control Conference (ACC 2015), Chicago, Illinois, USA, July, 2015. BibTeX: @inproceedings{ACC15_Dolgov, abstract = {In this paper, we consider infinite-horizon networked LQG control over multipurpose networks that do not provide acknowledgments (UDP-like networks). The information communicated over the networks experiences transmission delays and losses that are modeled as stochastic processes. In oder to mitigate the delays and losses in the controller-actuator channel, the controller transmits sequences of predicted control inputs in addition to the current control input. To be able to mitigate delays and losses in the feedback channel, the estimator computes the estimate using M last measurements. In this scenario, the separation principle does not hold and the optimal control law is in general nonlinear. However, assuming that the controller and the estimator are linear and possess constant gains, we are able to derive the control law. The presented control law is evaluated by means of simulations.}, address = {Chicago, Illinois, USA}, author = {Maxim Dolgov and Jörg Fischer and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2015 American Control Conference (ACC 2015)}, month = {July}, pdf = {ACC2015_DolgovFischer.pdf}, title = {Infinite-Horizon Sequence-based Networked Control without Acknowledgments}, year = {2015} }  Gerhard Kurz, Maxim Dolgov, Uwe D. Hanebeck, Nonlinear Stochastic Model Predictive Control in the Circular Domain,Proceedings of the 2015 American Control Conference (ACC 2015), Chicago, Illinois, USA, July, 2015. BibTeX: @inproceedings{ACC15_Kurz, abstract = {In this paper, we present an open-loop Stochastic Model Predictive Control (SMPC) method for discrete-time nonlinear systems whose state is defined on the unit circle. This modeling approach allows considering systems that include periodicity in a more natural way than standard approaches based on linear spaces. The main idea of this work is twofold: (i) we model the quantities of the system, i.e., the state, the measurements, and the noises, directly as circular quantities described by circular probability densities, and (ii) we apply deterministic sampling given in closed form to represent the occurring densities. The latter allows us to make the prediction required for solution of the SMPC problem tractable. We evaluate the proposed control scheme by means of simulations.}, address = {Chicago, Illinois, USA}, author = {Gerhard Kurz and Maxim Dolgov and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2015 American Control Conference (ACC 2015)}, month = {July}, pdf = {ACC2015_KurzDolgov.pdf}, title = {Nonlinear Stochastic Model Predictive Control in the Circular Domain}, year = {2015} }  Maxim Dolgov, Uwe D. Hanebeck, Infinite-horizon Linear Optimal Control of Markov Jump Systems without Mode Observation via State Feedback,arXiv preprint: Systems and Control (cs.SY), July, 2015. BibTeX: @article{arXiv15_Dolgov, abstract = {In this paper, we consider stochastic optimal control of Markov Jump Linear Systems with state feedback but without observation of the jumping parameter. The proposed control law is assumed to be linear with constant gains that can be obtained from the necessary optimality conditions using an iterative algorithm. The proposed approach is demonstrated in a numerical example.}, author = {Maxim Dolgov and Uwe D. Hanebeck}, journal = {arXiv preprint: Systems and Control (cs.SY)}, month = {July}, title = {Infinite-horizon Linear Optimal Control of Markov Jump Systems without Mode Observation via State Feedback}, url = {http://arxiv.org/abs/1507.00304}, year = {2015} }  Florian Faion, Antonio Zea, Marcus Baum, Uwe D. Hanebeck, Symmetries in Bayesian Extended Object Tracking,Journal of Advances in Information Fusion, 10(1):13–30, June, 2015. BibTeX: @article{JAIF15_Faion, abstract = {In this work, we exploit geometric symmetries in extended objects in order to improve Bayesian tracking algorithms that use Spatial Distribution Models, Greedy Association Models as used in curve fitting, and Random Hypersurface Models. The key idea is to describe symmetric objects by solely modeling the non-redundant part of the shape, while the remainder of the shape follows from symmetry. Following this idea, we develop simplified versions for the three models that take advantage of the symmetry. Exploiting symmetries yields two major benefits. First, complex symmetric shapes can be equivalently represented by a fraction of the original shape parameters. Second, when using sample-based filters, such as the widely used Unscented Kalman Filter, symmetry yields a higher effective sample resolution. It is worth mentioning that estimating even simple objects such as a stick, which only have one reflectional symmetry, can be significantly improved.}, author = {Florian Faion and Antonio Zea and Marcus Baum and Uwe D. Hanebeck}, journal = {Journal of Advances in Information Fusion}, month = {June}, number = {1}, pages = {13--30}, title = {Symmetries in Bayesian Extended Object Tracking}, url = {http://confcats_isif.s3.amazonaws.com/web-files/journals/entries/433_1_art_9_24888.pdf}, volume = {10}, year = {2015} }  Jannik Steinbring, Martin Pander, Uwe D. Hanebeck, The Smart Sampling Kalman Filter with Symmetric Samples,arXiv preprint: Systems and Control (cs.SY), June, 2015. BibTeX: @article{arXiv15_Steinbring, abstract = {Nonlinear Kalman Filters are powerful and widely-used techniques when trying to estimate the hidden state of a stochastic nonlinear dynamic system. In this paper, we extend the Smart Sampling Kalman Filter (S2KF) with a new point symmetric Gaussian sampling scheme. This not only improves the S2KF's estimation quality, but also reduces the time needed to compute the required optimal Gaussian samples drastically. Moreover, we improve the numerical stability of the sample computation, which allows us to accurately approximate a thousand-dimensional Gaussian distribution using tens of thousands of optimally placed samples. We evaluate the new symmetric S2KF by computing higher-order moments of standard normal distributions and investigate the estimation quality of the S2KF when dealing with symmetric measurement equations. Finally, extended object tracking based on many measurements per time step is considered. This high-dimensional estimation problem shows the advantage of the S2KF being able to use an arbitrary number of samples independent of the state dimension, in contrast to other state-of-the-art sample-based Kalman Filters.}, author = {Jannik Steinbring and Martin Pander and Uwe D. Hanebeck}, journal = {arXiv preprint: Systems and Control (cs.SY)}, month = {June}, title = {The Smart Sampling Kalman Filter with Symmetric Samples}, url = {http://arxiv.org/abs/1506.03254}, year = {2015} }  Marcus Baum, Peter Willett, Uwe D. Hanebeck, Polynomial-Time Algorithms for the Exact MMOSPA Estimate of a Multi-Object Probability Density Represented by Particles,IEEE Transactions on Signal Processing, pp. 2476 – 2484, May, 2015. BibTeX: @article{TSP15_Baum, abstract = {In multi-object estimation, the traditional minimum mean squared error (MMSE) objective is unsuitable: a simple permutation of object identities can turn a very good estimate into what is apparently a very bad one. Fortunately, a criterion tailored to sets-minimization of the mean optimal sub-pattern assignment (MMOSPA)-has recently evolved. Aside from special cases, exact MMOSPA estimates have seemed difficult to compute. But in this work we present the first exact polynomial-time algorithms for calculating the MMOSPA estimate for probability densities that are represented by particles. The key insight is that the MMOSPA estimate can be found by means of enumerating the cells of a hyperplane arrangement, which is a traditional problem from computational geometry. Although the runtime complexity is still high for the general case, efficient algorithms are obtained for two special cases, i.e., (i) two targets with arbitrary state dimensions and (ii) an arbitrary number of one-dimensional targets.}, author = {Marcus Baum and Peter Willett and Uwe D. Hanebeck}, doi = {10.1109/TSP.2015.2403292}, journal = {IEEE Transactions on Signal Processing}, month = {May}, number = {10}, pages = {2476 -- 2484}, title = {Polynomial-Time Algorithms for the Exact MMOSPA Estimate of a Multi-Object Probability Density Represented by Particles}, url = {https://ieeexplore.ieee.org/document/7041175/}, year = {2015} }  Uwe D. Hanebeck, Optimal Reduction of Multivariate Dirac Mixture Densities,at - Automatisierungstechnik, Oldenbourg Verlag, 63(4):265–278, April, 2015. BibTeX: @article{AT15_Hanebeck, abstract = {This paper is concerned with the optimal approximation of a given multivariate Dirac mixture, i.e., a density comprising weighted Dirac distributions on a continuous domain, by a Dirac mixture with a reduced number of components. The parameters of the approximating density are calculated by numerically minimizing a smooth distance measure, a generalization of the well-known Cramer–von Mises-Distance to the multivariate case. This generalization is achieved by defining an alternative to the classical cumulative distribution, the Localized Cumulative Distribution (LCD), as a smooth characterization of discrete random quantities (on continuous domains). The resulting approximation method provides the basis for various efficient nonlinear estimation and control methods.}, author = {Uwe D. Hanebeck}, doi = {10.1515/auto-2015-0005}, journal = {at - Automatisierungstechnik, Oldenbourg Verlag}, month = {April}, number = {4}, pages = {265--278}, title = {Optimal Reduction of Multivariate Dirac Mixture Densities}, url = {http://dx.doi.org/10.1515/auto-2015-0005}, volume = {63}, year = {2015} }  Gerhard Kurz, Igor Gilitschenski, Uwe D. Hanebeck, Recursive Bayesian Filtering in Circular State Spaces,arXiv preprint: Systems and Control (cs.SY), January, 2015. BibTeX: @article{arXiv15_Kurz, abstract = {For recursive circular filtering based on circular statistics, we introduce a general framework for estimation of a circular state based on different circular distributions, specifically the wrapped normal distribution and the von Mises distribution. We propose an estimation method for circular systems with nonlinear system and measurement functions. This is achieved by relying on efficient deterministic sampling techniques. Furthermore, we show how the calculations can be simplified in a variety of important special cases, such as systems with additive noise as well as identity system or measurement functions. We introduce several novel key components, particularly a distribution-free prediction algorithm, a new and superior formula for the multiplication of wrapped normal densities, and the ability to deal with non-additive system noise. All proposed methods are thoroughly evaluated and compared to several state-of-the-art solutions.}, author = {Gerhard Kurz and Igor Gilitschenski and Uwe D. Hanebeck}, journal = {arXiv preprint: Systems and Control (cs.SY)}, month = {January}, title = {Recursive Bayesian Filtering in Circular State Spaces}, url = {http://arxiv.org/abs/1501.05151}, year = {2015} }  2014 Jannik Steinbring, Uwe D. Hanebeck, LRKF Revisited: The Smart Sampling Kalman Filter (S2KF),Journal of Advances in Information Fusion, 9(2):106–123, December, 2014. BibTeX: @article{JAIF14_Steinbring-S2KF, abstract = {An accurate Linear Regression Kalman Filter (LRKF) for nonlinear systems called Smart Sampling Kalman Filter (S²KF) is introduced. In order to get a better understanding of this new filter, a general introduction to Nonlinear Kalman Filters based on statistical linearization and LRKFs is given. The S²KF is based on a new low-discrepancy Dirac mixture approximation of Gaussian densities. This approximation com- prises an arbitrary number of optimally and deterministically placed samples in the relevant regions of the state space, so that the filter resolution can be adapted to either achieve high- quality results or to meet computational constraints. The S²KF contains the UKF with equally weighted samples as a special case when using the same amount of samples. With an increasing number of samples, the new filter converges to the (typically unfeasible) exact analytic statistical linearization. Hence, the S²KF can be seen as the ultimate generalization of all LRKFs such as the UKF, sigma-point filters, higher-order variants etc., as it homogeneously covers the state space with a freely chosen number of samples. It is evaluated against state-of-the-art LRKFs by performing nonlinear prediction and extended target tracking.}, author = {Jannik Steinbring and Uwe D. Hanebeck}, journal = {Journal of Advances in Information Fusion}, month = {December}, number = {2}, pages = {106--123}, title = {LRKF Revisited: The Smart Sampling Kalman Filter (S2KF)}, url = {http://confcats_isif.s3.amazonaws.com/web-files/journals/entries/441_1_art_11_17020.pdf}, volume = {9}, year = {2014} }  Gerhard Kurz, Igor Gilitschenski, Simon Julier, Uwe D. Hanebeck, Recursive Bingham Filter for Directional Estimation Involving 180 Degree Symmetry,Journal of Advances in Information Fusion, 9(2):90–105, December, 2014. BibTeX: @article{JAIF14_Kurz-Bingham, abstract = {This work considers filtering of uncertain data defined on periodic domains, particularly the circle and the manifold of orientations in 3D space. Filters based on the Kalman filter perform poorly in this directional setting as they fail to take the structure of the underlying manifold into account. We present a recursive filter based on the Bingham distribution, which is defined on the considered domains. The proposed filter can be applied to circular filtering problems with 180 degree symmetry and to estimation of orientations in three dimensional space. It is easily implemented using standard numerical techniques and suitable for real-time applications. We evaluate our filter in a challenging scenario and compare it to a Kalman filtering approach adapted to the particular setting.}, author = {Gerhard Kurz and Igor Gilitschenski and Simon Julier and Uwe D. Hanebeck}, journal = {Journal of Advances in Information Fusion}, month = {December}, number = {2}, pages = {90--105}, pdf = {JAIF13_Kurz-Bingham.pdf}, title = {Recursive Bingham Filter for Directional Estimation Involving 180 Degree Symmetry}, volume = {9}, year = {2014} }  Marcus Baum, Peter Willet, Uwe D. Hanebeck, MMOSPA-based Track Extraction in the PHD Filter – A Justification for k-Means Clustering,Proceedings of the 53rd IEEE Conference on Decision and Control (CDC 2014), Los Angeles, California, USA, December, 2014. BibTeX: @inproceedings{CDC14_Baum, abstract = {Displaying tracks is an essential part of a multi- target tracking system. Recently, it was proposed to extract tracks with respect to the Optimal Sub-Pattern Assignment (OSPA) metric, i.e., the traditionally used squared error loss is replaced with an OSPA loss, which leads to the so-called Minimum Mean OSPA (MMOSPA) estimate. So far, work concentrated on traditional trackers that maintain probability densities for the targets. In this paper, we aim at extracting the MMOSPA estimate from a Probability Hypothesis Density (PHD) as used within the PHD filter. We elaborate that the PHD in general does not contain enough information to determine the exact MMOSPA estimate. However, we then show that if the loss function has a specific form, it is indeed possible to extract point estimates from a PHD that are optimal w.r.t. the underlying unknown random finite set. We discuss two specific loss functions that fulfill this condition and are potentially close to the OSPA loss, a nearest neighbor loss and a kernel distance loss. It turns out that track extraction based on the nearest neighbor loss can be performed with the well-known k-means algorithm. Simulations show when the estimates based on the nearest neighbor and the kernel loss are close to the MMOSPA estimate.}, address = {Los Angeles, California, USA}, author = {Marcus Baum and Peter Willet and Uwe D. Hanebeck}, booktitle = {Proceedings of the 53rd IEEE Conference on Decision and Control (CDC 2014)}, month = {December}, pdf = {CDC14_Baum.pdf}, title = {MMOSPA-based Track Extraction in the PHD Filter – A Justification for k-Means Clustering}, year = {2014} }  Maxim Dolgov, Jörg Fischer, Uwe D. Hanebeck, Sequence-based LQG Control with Linear Integral Constraints over Stochastic Networks,Proceedings of the 53rd IEEE Conference on Decision and Control (CDC 2014), Los Angeles, California, USA, December, 2014. BibTeX: @inproceedings{CDC14_Dolgov, abstract = {In this paper, we consider sequence-based LQG control of stochastic linear systems with linear integral state and input constraints over networks subject to stochastic packet delays and losses. For this scenario, we derive a novel closed-loop optimal control law that consists of a feedback and a feedforward term. The feedback term depends linearly on the state estimate, while the feedforward term depends on the initial system state and the constraint functions. The control law can be partially given in closed-form that can be precomputed offline, and a numerical part which demands a solution of a quadratic optimization procedure. The number of the decision variables corresponds to the number of constraints. The presented control law is evaluated by means of a Monte-Carlo simulation.}, address = {Los Angeles, California, USA}, author = {Maxim Dolgov and Jörg Fischer and Uwe D. Hanebeck}, booktitle = {Proceedings of the 53rd IEEE Conference on Decision and Control (CDC 2014)}, month = {December}, pdf = {CDC14_Dolgov.pdf}, title = {Sequence-based LQG Control with Linear Integral Constraints over Stochastic Networks}, year = {2014} }  Gerhard Kurz, Igor Gilitschenski, Maxim Dolgov, Uwe D. Hanebeck, Bivariate Angular Estimation Under Consideration of Dependencies Using Directional Statistics,Proceedings of the 53rd IEEE Conference on Decision and Control (CDC 2014), Los Angeles, California, USA, December, 2014. BibTeX: @inproceedings{CDC14_Kurz, abstract = {Estimation of angular quantities is a widespread issue, but standard approaches neglect the true topology of the problem and approximate directional with linear uncertainties. In recent years, novel approaches based on directional statistics have been proposed. However, these approaches have been unable to consider arbitrary circular correlations between multiple angles so far. For this reason, we propose a novel recursive filtering scheme that is capable of estimating multiple angles even if they are dependent, while correctly describing their circular correlation. The proposed approach is based on toroidal probability distributions and a circular correlation coefficient. We demonstrate the superiority to a standard approach based on the Kalman filter in simulations.}, address = {Los Angeles, California, USA}, author = {Gerhard Kurz and Igor Gilitschenski and Maxim Dolgov and Uwe D. Hanebeck}, booktitle = {Proceedings of the 53rd IEEE Conference on Decision and Control (CDC 2014)}, month = {December}, pdf = {CDC14_Kurz.pdf}, title = {Bivariate Angular Estimation Under Consideration of Dependencies Using Directional Statistics}, year = {2014} }  Uwe D. Hanebeck, Optimal Reduction of Multivariate Dirac Mixture Densities,arXiv preprint: Systems and Control (cs.SY), November, 2014. BibTeX: @article{arXiv14_Hanebeck-Reduction, abstract = {This paper is concerned with the optimal approximation of a given multivariate Dirac mixture, i.e., a density comprising weighted Dirac distributions on a continuous domain, by an equally weighted Dirac mixture with a reduced number of components. The parameters of the approximating density are calculated by minimizing a smooth global distance measure, a generalization of the well-known Cramér-von Mises Distance to the multivariate case. This generalization is achieved by defining an alternative to the classical cumulative distribution, the Localized Cumulative Distribution (LCD), as a characterization of discrete random quantities (on continuous domains), which is unique and symmetric also in the multivariate case. The resulting approximation method provides the basis for various efficient nonlinear state and parameter estimation methods. }, author = {Uwe D. Hanebeck}, journal = {arXiv preprint: Systems and Control (cs.SY)}, month = {November}, title = {Optimal Reduction of Multivariate Dirac Mixture Densities}, url = {http://arxiv.org/abs/1411.4586}, year = {2014} }  Nicole Bäuerle, Igor Gilitschenski, Uwe D. Hanebeck, Exact and Approximate Hidden Markov Chain Filters Based on Discrete Observations,arXiv preprint: Probability (math.PR), November, 2014. BibTeX: @article{arXiv14_Baeuerle, abstract = {We consider a Hidden Markov Model (HMM) where the integrated continuous-time Markov chain can be observed at discrete time points perturbed by a Brownian motion. The aim is to derive a filter for the underlying continuous-time Markov chain. The recursion formula for the discrete-time filter is easy to derive, however involves densities which are very hard to obtain. In this paper we derive exact formulas for the necessary densities in the case the state space of the HMM consists of two elements only. This is done by relating the underlying integrated continuous-time Markov chain to the so-called asymmetric telegraph process and by using recent results on this process. In case the state space consists of more than two elements we present three different ways to approximate the densities for the filter. The first approach is based on the continuous filter problem. The second approach is to derive a PDE for the densities and solve it numerically and the third approach is a crude discrete time approximation of the Markov chain. All three approaches are compared in a numerical study.}, author = {Nicole Bäuerle and Igor Gilitschenski and Uwe D. Hanebeck}, journal = {arXiv preprint: Probability (math.PR)}, month = {November}, title = {Exact and Approximate Hidden Markov Chain Filters Based on Discrete Observations}, url = {http://arxiv.org/abs/1411.0849}, year = {2014} }  Florian Faion, Antonio Zea, Marcus Baum, Uwe D. Hanebeck, Bayesian Estimation of Line Segments,Proceedings of the IEEE ISIF Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF 2014), Bonn, Germany, October, 2014. BibTeX: @inproceedings{SDF14_Faion, abstract = {A popular approach when tracking extended objects with elongated shapes, such as ships or airplanes, is to approximate them as a line segment. Despite its simple shape, the distribution of measurement sources on a line segment can be characterized in many radically different ways. The spectrum ranges from Spatial Distribution Models that assume a distinct probability for each individual source, to Greedy Association Models as used in curve fitting, which do not assume any distribution at all. In between these border cases, Random Hypersurface Models assume a distribution over subsets of all sources. In this paper, we compare Bayesian estimators based on these different models. We point out their advantages and disadvantages and evaluate their performance by means of illustrative examples with synthetic and real data using a Linear Regression Kalman Filter.}, address = {Bonn, Germany}, author = {Florian Faion and Antonio Zea and Marcus Baum and Uwe D. Hanebeck}, booktitle = {Proceedings of the IEEE ISIF Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF 2014)}, month = {October}, pdf = {SDF14_Faion.pdf}, title = {Bayesian Estimation of Line Segments}, year = {2014} }  Igor Gilitschenski, Uwe D. Hanebeck, A Direct Method for Checking Overlap of Two Hyperellipsoids,Proceedings of the IEEE ISIF Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF 2014), Bonn, Germany, October, 2014. BibTeX: @inproceedings{SDF14_Gilitschenski, abstract = {In this work, we propose a method for checking whether two arbitrary-dimensional hyperellipsoids overlap without making use of any optimization or root-finding methods. This is achieved by formulating an overlap condition as a polynomial root counting problem, which can be solved directly. The addressed challenges involve the inversion of a polynomial matrix using a direct method. The proposed approach extends one of our earlier results, which was restricted to certain combinations of ellipsoids and yields a fixed run-time for a fixed problem dimensionality. Thus, for the first time, an algorithm for checking overlap of arbitrary hyperellipsoids is proposed that can be evaluated in closed form. That is, in the absence of cut-off errors, the proposed method yields an exact result after a finite number of steps.}, address = {Bonn, Germany}, author = {Igor Gilitschenski and Uwe D. Hanebeck}, booktitle = {Proceedings of the IEEE ISIF Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF 2014)}, month = {October}, pdf = {SDF14_Gilitschenski.pdf}, title = {A Direct Method for Checking Overlap of Two Hyperellipsoids}, year = {2014} }  Gerhard Kurz, Igor Gilitschenski, Uwe D. Hanebeck, Efficient Evaluation of the Probability Density Function of a Wrapped Normal Distribution,Proceedings of the IEEE ISIF Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF 2014), Bonn, Germany, October, 2014. BibTeX: @inproceedings{SDF14_Kurz, abstract = {The wrapped normal distribution arises when the density of a one-dimensional normal distribution is wrapped around the circle infinitely many times. At first look, evaluation of its probability density function appears tedious as an infinite series is involved. In this paper, we investigate the evaluation of two truncated series representations. As one representation performs well for small uncertainties, whereas the other performs well for large uncertainties, we show that in all cases a small number of summands is sufficient to achieve high accuracy.}, address = {Bonn, Germany}, author = {Gerhard Kurz and Igor Gilitschenski and Uwe D. Hanebeck}, booktitle = {Proceedings of the IEEE ISIF Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF 2014)}, month = {October}, pdf = {SDF14_Kurz.pdf}, title = {Efficient Evaluation of the Probability Density Function of a Wrapped Normal Distribution}, year = {2014} }  Antonio Zea, Florian Faion, Uwe D. Hanebeck, Tracking Extended Objects using Extrusion Random Hypersurface Models,Proceedings of the IEEE ISIF Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF 2014), Bonn, Germany, October, 2014. Winner Best Paper Award Certificate (PDF) BibTeX: @inproceedings{SDF14_Zea, abstract = { As sensor resolution increases, the accuracy and robustness of tracking algorithms can be improved by incorporating more information about the shape of the target object. This raises the need for simple and robust shape models capable of describing detailed objects. In this paper we propose an approach based on Random Hypersurface Models that interprets target shapes as scaled extrusions. This is achieved by combining projection-based models with probabilistic approaches, integrating the strengths of both mechanisms. As extruded shapes such as bottles, boxes, or containers can be extensively found in everyday situations, this approach can be applied for tracking in a large variety of environments.}, address = {Bonn, Germany}, annote = {Winner Best Paper Award Certificate (PDF)}, author = {Antonio Zea and Florian Faion and Uwe D. Hanebeck}, booktitle = {Proceedings of the IEEE ISIF Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF 2014)}, month = {October}, pdf = {SDF14_Zea.pdf}, title = {Tracking Extended Objects using Extrusion Random Hypersurface Models}, year = {2014} }  Igor Gilitschenski, Gerhard Kurz, Simon J. Julier, Uwe D. Hanebeck, Efficient Bingham Filtering based on Saddlepoint Approximations,Proceedings of the 2014 IEEE International Conference on Multisensor Fusion and Information Integration (MFI 2014), Beijing, China, September, 2014. BibTeX: @inproceedings{MFI14_Gilitschenski, abstract = {In this paper, we discuss computational efficiency of a recursive estimator using the Bingham Distribution. The Bingham distribution is defined directly on the unit hypersphere. As such, it is able to describe both large and small uncertainties in a unified framework. In order to tackle the challenging computation of the normalization constant, we propose a method using its Saddlepoint approximations and an approximate MLE based on the Gauss-Newton method. In a set of simulation experiments, we demonstrate that the Bingham filter not only outperforms both Kalman and particle filters, but can also be implemented efficiently.}, address = {Beijing, China}, author = {Igor Gilitschenski and Gerhard Kurz and Simon J. Julier and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2014 IEEE International Conference on Multisensor Fusion and Information Integration (MFI 2014)}, month = {September}, pdf = {MFI2014_Gilitschenski.pdf}, title = {Efficient Bingham Filtering based on Saddlepoint Approximations}, year = {2014} }  Gerhard Kurz, Igor Gilitschenski, Uwe D. Hanebeck, The Partially Wrapped Normal Distribution for SE(2) Estimation,Proceedings of the 2014 IEEE International Conference on Multisensor Fusion and Information Integration (MFI 2014), Beijing, China, September, 2014. BibTeX: @inproceedings{MFI14_Kurz, abstract = {We introduce a novel probability distribution on the group of rigid motions SE(2) and we refer to this distribution as the partially wrapped normal distribution. Describing probabilities on the SE(2) is of interest in a wide range of areas, for example robotics, autonomous vehicles, or information fusion. We derive some important properties of this novel distribution and derive an estimation scheme for its parameters based on moment matching. Furthermore, we provide a comparison to a recently published approach based on the Bingham distribution, and show that there are complementary advantages and disadvantages of the two approaches.}, address = {Beijing, China}, author = {Gerhard Kurz and Igor Gilitschenski and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2014 IEEE International Conference on Multisensor Fusion and Information Integration (MFI 2014)}, month = {September}, pdf = {MFI2014_Kurz-PWN.pdf}, title = {The Partially Wrapped Normal Distribution for SE(2) Estimation}, year = {2014} }  Marc Reinhardt, Sanjeev Kulkarni, Uwe D. Hanebeck, Generalized Covariance Intersection based on Noise Decomposition,Proceedings of the 2014 IEEE International Conference on Multisensor Fusion and Information Integration (MFI 2014), Beijing, China, September, 2014. BibTeX: @inproceedings{MFI14_Reinhardt, abstract = {In linear decentralized estimation, several nodes concurrently aim to recursively estimate the state of a common phenomenon by means of local measurements and data exchanges subject to limited knowledge. In this contribution, an efficient algorithm for consistent estimation in sensor networks under Kalman filter assumptions is derived. The main theorems generalize Covariance Intersection by means of an explicit consideration of individual noise terms. We apply the results to linear decentralized estimation and obtain covariance bounds with a scalable precision between the exact covariances and the bounds provided by Covariance Intersection subject to computation and communication effort.}, address = {Beijing, China}, author = {Marc Reinhardt and Sanjeev Kulkarni and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2014 IEEE International Conference on Multisensor Fusion and Information Integration (MFI 2014)}, month = {September}, pdf = {MFI2014_Reinhardt.pdf}, title = {Generalized Covariance Intersection based on Noise Decomposition}, year = {2014} }  Gerhard Kurz, Geneviève Foley, Péter Hegedüs, Gábor Szabó, Uwe D. Hanebeck, Evaluation of Image Stabilization Methods in Robotic Beating Heart Surgery,13. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC14), Munich, Germany, September, 2014. BibTeX: @inproceedings{CURAC14_Kurz, abstract = {In cardiopulmonary bypass surgery, it is beneficial to avoid the use of a heart-lung machine and perform beating heart surgery instead. This is a difficult task even for the most skilled surgeons. To eliminate the risks associated with cardio- pulmonary bypass on a beating heart, a motion compensation system can be used. We place markers on the heart surface, which we can use to track the complex heart motion and to produce still footage of the heart surface by applying one of several stabilization algorithms to eliminate the motion. We compare six different stabilization algorithms, affine, B- spline, piecewise linear and three types of radial basis functions. In this paper, we evaluate the results using three eval- uation methods, pixel intensity average difference, optical flow, and stabilized marker tracking. All of these show a sig- nificant reduction in motion after stabilization, especially for interpolation-based stabilization methods as opposed to the affine approximation. We discuss advantages and disadvantages of the different evaluation methods.}, address = {Munich, Germany}, author = {Gerhard Kurz and Geneviève Foley and Péter Hegedüs and Gábor Szabó and Uwe D. Hanebeck}, booktitle = {13. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC14)}, month = {September}, pdf = {CURAC14_Kurz.pdf}, title = {Evaluation of Image Stabilization Methods in Robotic Beating Heart Surgery}, year = {2014} }  Jörg Fischer, Maxim Dolgov, Uwe D. Hanebeck, Optimal Sequence-Based Tracking Control over Unreliable Networks,Proceedings of the 19th IFAC World Congress (IFAC 2014), Cape Town, South Africa, August, 2014. BibTeX: @inproceedings{IFAC14_Fischer, abstract = {In networked control systems, sequence-based controllers are used to compensate for transmission delays and losses in unreliable data networks. For this purpose, the controller sends not only the current control input to the actuator but also a sequence of predicted control inputs. The additional inputs can be used when subsequent transmissions get delayed or lost. In this paper, the sequence-based method is applied to the problem of trajectory tracking over an unreliable network and an optimal sequenced-based tracking controller is derived. The main advantage of the presented approach is that future information on the reference trajectory can optimally be embedded in the predicted control sequences. Furthermore, the controller can be implemented offline. An interesting result is that the optimal controller can still be separated into a feedback part and a feedforward part (as in standard optimal tracking control) despite of both the unreliable network and the sequence-based method. The performance of the derived tracking controller is demonstrated by Monte Carlo simulations with an inverted pendulum.}, address = {Cape Town, South Africa}, author = {Jörg Fischer and Maxim Dolgov and Uwe D. Hanebeck}, booktitle = {Proceedings of the 19th IFAC World Congress (IFAC 2014)}, month = {August}, pdf = {IFAC14_Fischer.pdf}, title = {Optimal Sequence-Based Tracking Control over Unreliable Networks}, year = {2014} }  Uwe D. Hanebeck, Anders Lindquist, Moment-based Dirac Mixture Approximation of Circular Densities,Proceedings of the 19th IFAC World Congress (IFAC 2014), Cape Town, South Africa, August, 2014. BibTeX: @inproceedings{IFAC14_Hanebeck, abstract = {Given a circular probability density function, called the true probability density function, the goal is to find a Dirac mixture approximation based on some circular moments of the true density. When keeping the locations of the Dirac points fixed, but almost arbitrarily located, we are applying recent results on the circulant rational covariance extension problem to the problem of calculating the weights. For the case of simultaneously calculating optimal locations, additional constraints have to be deduced from the given density. For that purpose, a distance measure for the deviation of the Dirac mixture approximation from the true density is derived, which then is minimized while considering the moment conditions as constraints. The method is based on progressive numerical minimization, converges quickly and gives well- distributed Dirac mixtures that fulfill the constraints, i.e., have the desired circular moments.}, address = {Cape Town, South Africa}, author = {Uwe D. Hanebeck and Anders Lindquist}, booktitle = {Proceedings of the 19th IFAC World Congress (IFAC 2014)}, month = {August}, pdf = {IFAC14_Hanebeck.pdf}, title = {Moment-based Dirac Mixture Approximation of Circular Densities}, year = {2014} }  Benjamin Noack, Joris Sijs, Uwe D. Hanebeck, Fusion Strategies for Unequal State Vectors in Distributed Kalman Filtering,Proceedings of the 19th IFAC World Congress (IFAC 2014), Cape Town, South Africa, August, 2014. BibTeX: @inproceedings{IFAC14_Noack, abstract = {Distributed implementations of state estimation algorithms generally have in common that each node in a networked system computes an estimate on the entire global state. Accordingly, each node has to store and compute an estimate of the same state vector irrespective of whether its sensors can only observe a small part of it. In particular, the task of monitoring large-scale phenomena renders such distributed estimation approaches impractical due to the sheer size of the corresponding state vector. In order to reduce the workload of the nodes, the state vector to be estimated is subdivided into smaller, possibly overlapping parts. In this situation, fusion does not only refer to the computation of an improved estimate but also to the task of reassembling an estimate for the entire state from the locally computed estimates of unequal state vectors. However, existing fusion methods require equal state representations and, hence, cannot be employed. For that reason, a fusion strategy for estimates of unequal and possibly overlapping state vectors is derived that minimizes the mean squared estimation error. For the situation of unknown cross-correlations between local estimation errors, also a conservative fusion strategy is proposed.}, address = {Cape Town, South Africa}, author = {Benjamin Noack and Joris Sijs and Uwe D. Hanebeck}, booktitle = {Proceedings of the 19th IFAC World Congress (IFAC 2014)}, month = {August}, pdf = {IFAC14_Noack.pdf}, title = {Fusion Strategies for Unequal State Vectors in Distributed Kalman Filtering}, year = {2014} }  Uwe D. Hanebeck, Truncated Moment Problem for Dirac Mixture Densities with Entropy Regularization,arXiv preprint: Systems and Control (cs.SY), August, 2014. BibTeX: @article{arXiv14_Hanebeck, abstract = {We assume that a finite set of moments of a random vector is given. Its underlying density is unknown. An algorithm is proposed for efficiently calculating Dirac mixture densities maintaining these moments while providing a homogeneous coverage of the state space. }, author = {Uwe D. Hanebeck}, journal = {arXiv preprint: Systems and Control (cs.SY)}, month = {August}, title = {Truncated Moment Problem for Dirac Mixture Densities with Entropy Regularization}, url = {http://arxiv.org/abs/1408.7083}, year = {2014} }  Jesús Muñoz Morcillo, Florian Faion, Antonio Zea, Uwe D. Hanebeck, Caroline Y. Robertson-von Trotha, e-Installation: Synesthetic Documentation of Media Art via Telepresence Technologies,arXiv preprint: Other Computer Science (cs.OH), August, 2014. BibTeX: @article{arXiv14_Munoz, abstract = {In this paper, a new synesthetic documentation method that contributes to media art conservation is presented. This new method is called e-Installation in analogy to the idea of the e-Book as the electronic version of a real book. An e-Installation is a virtualized media artwork that reproduces all synesthesia, interaction, and meaning levels of the artwork. Advanced 3D modeling and telepresence technologies with a very high level of immersion allow the virtual re-enactment of works of media art that are no longer performable or rarely exhibited. The virtual re-enactment of a media artwork can be designed with a scalable level of complexity depending on whether it addresses professionals such as curators, art restorers, and art theorists or the general public. An e-Installation is independent from the artwork's physical location and can be accessed via head-mounted display or similar data goggles, computer browser, or even mobile devices. In combination with informational and preventive conservation measures, the e-Installation offers an intermediate and long-term solution to archive, disseminate, and pass down the milestones of media art history as a synesthetic documentation when the original work can no longer be repaired or exhibited in its full function. }, author = {Jesús Muñoz Morcillo and Florian Faion and Antonio Zea and Uwe D. Hanebeck and Caroline Y. Robertson-von Trotha}, journal = {arXiv preprint: Other Computer Science (cs.OH)}, month = {August}, title = {e-Installation: Synesthetic Documentation of Media Art via Telepresence Technologies}, url = {http://arxiv.org/abs/1408.1362v1}, year = {2014} }  Jiří Ajgl, Miroslav Šimandl, Marc Reinhardt, Benjamin Noack, Uwe D. Hanebeck, Covariance Intersection in State Estimation of Dynamical Systems,Proceedings of the 17th International Conference on Information Fusion (Fusion 2014), Salamanca, Spain, July, 2014. BibTeX: @inproceedings{Fusion14_Ajgl, abstract = {The Covariance Intersection algorithm linearly combines estimates when the cross-correlations between their errors are unknown. It provides a fused estimate and an upper bound of the corresponding mean square error matrix. The weights of the linear combination are designed in order to minimise the upper bound. This paper analyses the optimal weights in relation to state estimation of dynamical systems. It is shown that the use of the optimal upper bound in a standard recursive filtering does not lead to optimal upper bounds in subsequent processing steps. Unlike the fusion under full knowledge, the fusion under unknown cross-correlations can fuse the same information differently, depending on the independent information that will be available in the future.}, address = {Salamanca, Spain}, author = {Jiří Ajgl and Miroslav Šimandl and Marc Reinhardt and Benjamin Noack and Uwe D. Hanebeck}, booktitle = {Proceedings of the 17th International Conference on Information Fusion (Fusion 2014)}, month = {July}, pdf = {Fusion14_Ajgl.pdf}, title = {Covariance Intersection in State Estimation of Dynamical Systems}, year = {2014} }  Zhansheng Duan, Xiao-Rong Li, Uwe D. Hanebeck, Multi-sensor Distributed Estimation Fusion Using Minimum Distance Sum,Proceedings of the 17th International Conference on Information Fusion (Fusion 2014), Salamanca, Spain, July, 2014. BibTeX: @inproceedings{Fusion14_Duan, abstract = {In multi-sensor distributed estimation fusion, local estimation errors are correlated in general. Two extreme ways to handle this correlation is either to ignore them completely or to have them fully considered. There is another case in the middle: it admits the existence of the correlation, but does not know how large it is. A sensible way is to set up an optimality criterion and optimize it over all possible such correlations. This work is a new development in the third class. First, a new general objective function is introduced, which is the minimum sum of statistical distances between the fused density and the local posterior densities. Then it is shown that the new criterion leads to a convex optimization problem if the Kullback-Leibler (KL) divergence is used as the statistical distance between assumed Gaussian densities. It is found that although the analytically obtained fused estimate using the new criterion differs from the simple convex combination rule only in mean squared error (MSE) by a scaling factor N (the number of sensors used), it is pessimistic semi-definite in MSE. Numerical examples illustrate the effectiveness of the proposed distributed fuser by comparing with several widely used distributed fusers.}, address = {Salamanca, Spain}, author = {Zhansheng Duan and Xiao-Rong Li and Uwe D. Hanebeck}, booktitle = {Proceedings of the 17th International Conference on Information Fusion (Fusion 2014)}, month = {July}, pdf = {Fusion14_Duan.pdf}, title = {Multi-sensor Distributed Estimation Fusion Using Minimum Distance Sum}, year = {2014} }  Christof Chlebek, Uwe D. Hanebeck, Pole-based Distance Measure for Change Detection in Linear Dynamic Systems,Proceedings of the 17th International Conference on Information Fusion (Fusion 2014), Salamanca, Spain, July, 2014. BibTeX: @inproceedings{Fusion14_Chlebek, abstract = {In this work, we derive a distance measure for the detection of changes in the behavior of linear dynamic single-input-single-output (SISO) systems based on input-output data. The distance is calculated as a function of the system poles, which are directly estimated from the given data. Poles represent a system as a set and have no identities, which is analogous to the nature of association-free multi-target tracking. This motivates the application of set distances known from multi-target tracking, namely the optimal subpattern assign- ment (OSPA) distance. Thus, the OSPA distance as well as a modification, the MAX-OSPA distance, are formulated as pole- distances between dynamic systems. In this formulation, the OSPA distance finds the optimal assingment by minimizing over the sum of distances between poles. The MAX-OSPA chooses an optimal assignment by minimizing the maximum distance between two poles. The proposed distances are evaluated in several simulations comparing the deterministic OSPA and MAX- OSPA to a state-of-the-art metric for autoregressive-moving- average (ARMA) processes, as well as OSPA and MAX-OSPA using the direct pole estimation and a two step-pole estimation utilizing recursive ARX (AutoRegressive model with eXogenous input) system identification.}, address = {Salamanca, Spain}, author = {Christof Chlebek and Uwe D. Hanebeck}, booktitle = {Proceedings of the 17th International Conference on Information Fusion (Fusion 2014)}, month = {July}, pdf = {Fusion14_Chlebek.pdf}, title = {Pole-based Distance Measure for Change Detection in Linear Dynamic Systems}, year = {2014} }  Florian Faion, Antonio Zea, Uwe D. Hanebeck, Reducing Bias in Bayesian Shape Estimation,Proceedings of the 17th International Conference on Information Fusion (Fusion 2014), Salamanca, Spain, July, 2014. BibTeX: @inproceedings{Fusion14_Faion, abstract = {This work considers the problem of estimating the parameters of an extended object based on noisy point observations from its boundary. The intention is to explore relationships between common approaches by breaking them down into their basic assumptions within the Bayesian framework. In doing so, we find that distance-minimizing curve fitting algorithms can be modeled by using a special Spatial Distribution Model, where the source distribution is approximated by a greedy one-to-one association of points to sources on the shape boundary. Based on this insight, we explore the origin of the estimation bias, which is a well-known issue of curve fitting algorithms. Furthermore, we derive a general scheme to alleviate its effect for arbitrary shapes, as well as for non-isotropic noise. This procedure is shown to be a generalization of related special solutions.}, address = {Salamanca, Spain}, author = {Florian Faion and Antonio Zea and Uwe D. Hanebeck}, booktitle = {Proceedings of the 17th International Conference on Information Fusion (Fusion 2014)}, month = {July}, pdf = {Fusion14_Faion.pdf}, title = {Reducing Bias in Bayesian Shape Estimation}, year = {2014} }  Igor Gilitschenski, Gerhard Kurz, Simon J. Julier, Uwe D. Hanebeck, A New Probability Distribution for Simultaneous Representation of Uncertain Position and Orientation,Proceedings of the 17th International Conference on Information Fusion (Fusion 2014), Salamanca, Spain, July, 2014. Best Student Paper Award First Runner-Up Certificate (PDF) BibTeX: @inproceedings{Fusion14_GilitschenskiKurz, abstract = {This work proposes a novel way to represent uncertainty on the Lie group of rigid-body motions in the plane. This is achieved by using dual quaternions for representation of a planar rigid-body motion and proposing a probability distribution from the exponential family of distributions that inherently respects the underlying structure of the representation. This is particularly beneficial in scenarios involving strong measurement noise. A relationship between the newly proposed distributional model and the Bingham distribution is discussed. The presented results involve formulas for computation of the normalization constant, the mode, parameter estimation techniques, and a closed-form Bayesian measurement fusion.}, address = {Salamanca, Spain}, annote = {Best Student Paper Award First Runner-Up Certificate (PDF)}, author = {Igor Gilitschenski and Gerhard Kurz and Simon J. Julier and Uwe D. Hanebeck}, booktitle = {Proceedings of the 17th International Conference on Information Fusion (Fusion 2014)}, month = {July}, pdf = {Fusion14_GilitschenskiKurz.pdf}, title = {A New Probability Distribution for Simultaneous Representation of Uncertain Position and Orientation}, year = {2014} }  Igor Gilitschenski, Jannik Steinbring, Uwe D. Hanebeck, Miroslav Simandl, Deterministic Dirac Mixture Approximation of Gaussian Mixtures,Proceedings of the 17th International Conference on Information Fusion (Fusion 2014), Salamanca, Spain, July, 2014. BibTeX: @inproceedings{Fusion14_GilitschenskiSteinbring, abstract = {In this work, we propose a novel way to approximating mixtures of Gaussian distributions by a set of deterministically chosen Dirac delta components. This approximation is performed by adapting a method for approximating single Gaussian distributions to the considered case. The proposed method turns the approximation problem into an optimization problem by minimizing a distance measure between the Gaussian mixture and its Dirac mixture approximation. Compared to the simple Gaussian case, the minimization criterion is much more complex as multiple, non-standard Gaussian distributions have to be considered.}, address = {Salamanca, Spain}, author = {Igor Gilitschenski and Jannik Steinbring and Uwe D. Hanebeck and Miroslav Simandl}, booktitle = {Proceedings of the 17th International Conference on Information Fusion (Fusion 2014)}, month = {July}, pdf = {Fusion14_GilitschenskiSteinbring.pdf}, title = {Deterministic Dirac Mixture Approximation of Gaussian Mixtures}, year = {2014} }  Uwe D. Hanebeck, Sample Set Design for Nonlinear Kalman Filters viewed as a Moment Problem,Proceedings of the 17th International Conference on Information Fusion (Fusion 2014), Salamanca, Spain, July, 2014. BibTeX: @inproceedings{Fusion14_Hanebeck, abstract = {For designing sample sets for nonlinear Kalman filters, i.e., Linear Regression Kalman Filters (LRKFs), a new method is introduced for approximating Gaussian densities by discrete densities, so called Dirac Mixtures (DMs). This approximating DM should maintain the mean and some higher- order moments and should homogeneously cover the support of the original density. Homogeneous approximations require redundancy, which means there are more Dirac components than necessary for fulfilling the moment constraints. Hence, some sort of regularization is required as the solution is no longer unique. Two types of regularizers are possible: The first type ensures smooth approximations, e.g., in a maximum entropy sense. The second type we pursue here ensures closeness of the approximating density to the given Gaussian. As standard distance measures are typically not well defined for discrete densities on continuous domains, we focus on shifting the mass distribution of the approximating density as close to the true density as possible. Instead of globally comparing the masses as in a previous paper, the key idea is to characterize individual Dirac components by kernel functions representing the spread of probability mass that is appropriate at a given location. A distance measure is then obtained by comparing the deviation between the true density and the induced kernel density. As a result, the approximation problem is converted to an optimization problem as we now minimize the distance under the desired moment constraints.}, address = {Salamanca, Spain}, author = {Uwe D. Hanebeck}, booktitle = {Proceedings of the 17th International Conference on Information Fusion (Fusion 2014)}, month = {July}, pdf = {Fusion14_Hanebeck.pdf}, title = {Sample Set Design for Nonlinear Kalman Filters viewed as a Moment Problem}, year = {2014} }  Joris Sijs, Leon Kester, Benjamin Noack, A Study on Event Triggering Criteria for Estimation,Proceedings of the 17th International Conference on Information Fusion (Fusion 2014), Salamanca, Spain, July, 2014. BibTeX: @inproceedings{Fusion14_Sijs, abstract = {To reduce the amount of data transfer in networked systems measurements are usually taken only when an event occurs rather than periodically in time. However, a fundamental assessment on the response of estimation algorithms receiving event sampled measurements is not available. This research presents such an analysis when new measurements are sampled at well-designed events and sent to a Luenberger observer. Conditions are then derived under which the estimation error is bounded, followed by an assessment of two event sampling strategies when the estimator encounters two different types of disturbances: an impulse and a step disturbance. The sampling strategies are compared via four performance measures, such as estimation-error and communication resources. The result is a clear insight of the estimation response in an event-based setup.}, address = {Salamanca, Spain}, author = {Joris Sijs and Leon Kester and Benjamin Noack}, booktitle = {Proceedings of the 17th International Conference on Information Fusion (Fusion 2014)}, month = {July}, pdf = {Fusion14_Sijs.pdf}, title = {A Study on Event Triggering Criteria for Estimation}, year = {2014} }  Gerhard Kurz, Igor Gilitschenski, Uwe D. Hanebeck, Deterministic Approximation of Circular Densities with Symmetric Dirac Mixtures Based on Two Circular Moments,Proceedings of the 17th International Conference on Information Fusion (Fusion 2014), Salamanca, Spain, July, 2014. Winner Best Paper Award Certificate (PDF) BibTeX: @inproceedings{Fusion14_KurzGilitschenski, abstract = {Circular estimation problems arise in many applications and can be addressed with the help of circular distributions. In particular, the wrapped normal and von Mises distributions are widely used in the context of circular problems. To facilitate the development of nonlinear filters, a deterministic sample-based approximation of these distributions with a so-called wrapped Dirac mixture distribution is beneficial. We propose a new closed-form solution to obtain a symmetric wrapped Dirac mixture with five components based on matching the first two circular moments. The proposed method is superior to state-of-the-art methods, which only use the first circular moment to obtain three Dirac components, because a larger number of Dirac components results in a more accurate approximation.}, address = {Salamanca, Spain}, annote = {Winner Best Paper Award Certificate (PDF)}, author = {Gerhard Kurz and Igor Gilitschenski and Uwe D. Hanebeck}, booktitle = {Proceedings of the 17th International Conference on Information Fusion (Fusion 2014)}, month = {July}, pdf = {Fusion14_KurzGilitschenski.pdf}, title = {Deterministic Approximation of Circular Densities with Symmetric Dirac Mixtures Based on Two Circular Moments}, year = {2014} }  Gerhard Kurz, Uwe D. Hanebeck, 2D and 3D Image Stabilization for Robotic Beating Heart Surgery,Proceedings of the 17th International Conference on Information Fusion (Fusion 2014), Salamanca, Spain, July, 2014. BibTeX: @inproceedings{Fusion14_Kurz, abstract = {Image stabilization is relevant for various industrial and medical applications. In particular, we consider the use of image stabilization in robotic beating heart surgery. A robot, which is remotely controlled by the surgeon, can automatically compensate for the motion of the beating heart. To give the surgeon the illusion of operating on a stationary heart, a stabilized image of the beating heart is shown to the surgeon. Image stabilization cancels the unwanted motion of the heart, but retains changes to color and texture, for example cuts on the heart surface. In this paper, stabilization is first considered as a 2D image transformation problem. Subsequently, it is extended to stabilization of a 3D point cloud or surface. The proposed algorithms are evaluated in both ex-vivo and in-vivo experiments. In the evaluation, the stabilization quality achievable with several common interpolation functions is compared.}, address = {Salamanca, Spain}, author = {Gerhard Kurz and Uwe D. Hanebeck}, booktitle = {Proceedings of the 17th International Conference on Information Fusion (Fusion 2014)}, month = {July}, pdf = {Fusion14_Kurz.pdf}, title = {2D and 3D Image Stabilization for Robotic Beating Heart Surgery}, year = {2014} }  Benjamin Noack, Marc Reinhardt, Uwe D. Hanebeck, On Nonlinear Track-to-track Fusion with Gaussian Mixtures,Proceedings of the 17th International Conference on Information Fusion (Fusion 2014), Salamanca, Spain, July, 2014. BibTeX: @inproceedings{Fusion14_Noack, abstract = {The problem of fusing state estimates is encountered in many network-based multi-sensor applications. The majority of distributed state estimation algorithms are designed to provide multiple estimates on the same state, and track-to-track fusion then refers to the task of combining these estimates. While linear fusion only requires the joint cross-covariance matrix to be known, dependencies between estimates in nonlinear estimation problems have to be represented by high-dimensional probability density functions. In general, storing and keeping track of nonlinear dependencies is too cumbersome. However, this paper demonstrates that estimates represented by Gaussian mixtures prove to be an important exception to this rule. The dependency structure can as well be characterized in terms of a higher-dimensional Gaussian mixture. The different processing steps of distributed nonlinear state estimation, i.e., prediction, filtering, and fusion, are studied in light of the joint density representation. The presented concept is complemented with different simpler suboptimal representations of the dependency structure between Gaussian mixture densities.}, address = {Salamanca, Spain}, author = {Benjamin Noack and Marc Reinhardt and Uwe D. Hanebeck}, booktitle = {Proceedings of the 17th International Conference on Information Fusion (Fusion 2014)}, month = {July}, pdf = {Fusion14_Noack.pdf}, title = {On Nonlinear Track-to-track Fusion with Gaussian Mixtures}, year = {2014} }  Marc Reinhardt, Benjamin Noack, Sanjeev Kulkarni, Uwe D. Hanebeck, Distributed Kalman Filtering in the Presence of Packet Delays and Losses,Proceedings of the 17th International Conference on Information Fusion (Fusion 2014), Salamanca, Spain, July, 2014. BibTeX: @inproceedings{Fusion14_Reinhardt, abstract = {Distributed Kalman filtering aims at optimizing an estimate at a fusion center based on information that is gathered in a sensor network. Recently, an exact solution based on local estimation tracks has been proposed and an extension to cope with packet losses has been derived. In this contribution, we generalize both algorithms to packet delays. The key idea is to introduce augmented measurement vectors in the sensors that permit the optimization of local filter gains according to time-dependent measurement capabilities at the fusion center. In the most general form, the algorithm provides optimized estimates in sensor networks with packets delays and losses. The precision depends on the actual arrival patterns, and the results correspond to those of the centralized Kalman filter when specific assumptions about the measurement capability are satisfied.}, address = {Salamanca, Spain}, author = {Marc Reinhardt and Benjamin Noack and Sanjeev Kulkarni and Uwe D. Hanebeck}, booktitle = {Proceedings of the 17th International Conference on Information Fusion (Fusion 2014)}, month = {July}, pdf = {Fusion14_Reinhardt.pdf}, title = {Distributed Kalman Filtering in the Presence of Packet Delays and Losses}, year = {2014} }  Jannik Steinbring, Uwe D. Hanebeck, Progressive Gaussian Filtering Using Explicit Likelihoods,Proceedings of the 17th International Conference on Information Fusion (Fusion 2014), Salamanca, Spain, July, 2014. BibTeX: @inproceedings{Fusion14_Steinbring, abstract = {In this paper, we introduce a new sample-based Gaussian filter. In contrast to the popular Nonlinear Kalman Filters, e.g., the UKF, we do not rely on linearizing the measurement model. Instead, we take up the Gaussian progressive filtering approach introduced by the PGF 42 but explicitly rely on likelihood functions. Progression means, we incorporate the information of a new measurement gradually into the state estimate. The advantages of this filtering method are on the one hand the avoidance of sample degeneration and on the other hand an adaptive determination of the number of likelihood evaluations required for each measurement update. By this means, less informative measurements can be processed quickly, whereas measurements containing much information automatically receive more emphasis by the filter. These properties allow the new filter to cope with the demanding problem of very narrow likelihood functions in an efficient way.}, address = {Salamanca, Spain}, author = {Jannik Steinbring and Uwe D. Hanebeck}, booktitle = {Proceedings of the 17th International Conference on Information Fusion (Fusion 2014)}, month = {July}, pdf = {Fusion14_Steinbring.pdf}, title = {Progressive Gaussian Filtering Using Explicit Likelihoods}, year = {2014} }  Antonio Zea, Florian Faion, Uwe D. Hanebeck, Tracking Connected Objects Using Interacting Shape Models,Proceedings of the 17th International Conference on Information Fusion (Fusion 2014), Salamanca, Spain, July, 2014. BibTeX: @inproceedings{Fusion14_Zea, abstract = {As sensor resolution increases, estimators tracking extended objects benefit from being able to closely model the shape of the target. However, as more shape details are incorporated, this usually leads to increasingly complex estimators. A more useful approach is to describe these shapes as a combination of simpler shapes connected to each other. In this paper, we propose a modular approach to estimate these combined targets in function of their simpler components. This allows the characteristics of each component to be encapsulated, and permits the combination of multiple filtering techniques as required by each component shape. This approach can be applied to track combined objects in a large variety of environments, such as excavators, robotic arms, wagon trains, and many others.}, address = {Salamanca, Spain}, author = {Antonio Zea and Florian Faion and Uwe D. Hanebeck}, booktitle = {Proceedings of the 17th International Conference on Information Fusion (Fusion 2014)}, month = {July}, pdf = {Fusion14_Zea.pdf}, title = {Tracking Connected Objects Using Interacting Shape Models}, year = {2014} }  Christof Chlebek, Uwe D. Hanebeck, Bayesian Approach to Direct Pole Estimation,Proceedings of the 2014 European Control Conference (ECC 2014), Strasbourg, France, June, 2014. BibTeX: @inproceedings{ECC14_Chlebek, abstract = {In this work, a solution to the direct pole identification problem of discrete-time autoregressive (AR) processes by general recursive Bayesian estimation is presented. The poles of the transfer function of an AR process are identified directly from the process output data. Without intermediate estimation of the AR coefficient, the AR process identification problem by means of its poles becomes nonlinear, and thus cannot be solved exactly. A practical solution by application of statistical linearization is given. The derived direct pole estimation algorithm by statistical linearization is given in closed-form and regression point based, by the so-called Linear Regression Kalman Filter (LRKF). Two realizations of the LRKF algorithm are tested, namely the Unscented Kalman Filter (UKF) for low computational complexity and thus, for high update rates, and the Smart Sampling Kalman Filter (S2KF) for high precision with faster convergence. Both, the UKF and S2KF are compared to the Adaptive Pole Estimation (APE), a solution by recursive nonlinear least squares minimizing the prediction error gradient.}, address = {Strasbourg, France}, author = {Christof Chlebek and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2014 European Control Conference (ECC 2014)}, month = {June}, pdf = {ECC14_Chlebek.pdf}, title = {Bayesian Approach to Direct Pole Estimation}, year = {2014} }  Marcus Baum, Peter Willett, Uwe D. Hanebeck, MMOSPA-based Direction-of-Arrival Estimation for Planar Antenna Arrays,Proceedings of the Eighth IEEE Sensor Array and Multichannel Signal Processing Workshop (SAM 2014), A Coruña, Spain, June, 2014. BibTeX: @inproceedings{SAM14_Baum, abstract = {This work is concerned with direction-of-arrival (DOA) estimation of narrowband signals from multiple targets using a planar antenna array. We illustrate the shortcomings of Maximum Likelihood (ML), Maximum a Posteriori (MAP), and Minimum Mean Squared Error (MMSE) estimation, issues that can be attributed to the symmetry in the likelihood function that must exist when there is no information about labeling of targets. We proffer the recently introduced concept of Minimum Mean OSPA (MMOSPA) estimation that is based on the optimal subpattern assignment (OSPA) metric for sets and hence inherently incorporates symmetric likelihood functions.}, address = {A Coruña, Spain}, author = {Marcus Baum and Peter Willett and Uwe D. Hanebeck}, booktitle = {Proceedings of the Eighth IEEE Sensor Array and Multichannel Signal Processing Workshop (SAM 2014)}, month = {June}, pdf = {SAM14_Baum.pdf}, title = {MMOSPA-based Direction-of-Arrival Estimation for Planar Antenna Arrays}, year = {2014} }  Gerhard Kurz, Marcus Baum, Uwe D. Hanebeck, Real-time Kernel-based Multiple Target Tracking for Robotic Beating Heart Surgery,Proceedings of the Eighth IEEE Sensor Array and Multichannel Signal Processing Workshop (SAM 2014), A Coruña, Spain, June, 2014. BibTeX: @inproceedings{SAM14_Kurz, abstract = {Performing surgery on the beating heart has significant advantages for the patient compared to traditional heart surgery on the stopped heart. A remote-controlled robot can be used to automatically cancel out the movement of the beating heart. This necessitates precise tracking of the heart surface. For this purpose, we track 24 identical artificial markers placed on the heart. This creates a data association problem, because it is not known which measurement was obtained from which marker. To solve this problem, we apply a multiple target tracking method based on a symmetric kernel transformation. This method allows efficient handling of the data association problem even for a reasonably large number of targets. We demonstrate how to implement this method efficiently. The proposed approach is evaluated on in-vivo data of a real beating heart surgery performed on a porcine beating heart.}, address = {A Coruña, Spain}, author = {Gerhard Kurz and Marcus Baum and Uwe D. Hanebeck}, booktitle = {Proceedings of the Eighth IEEE Sensor Array and Multichannel Signal Processing Workshop (SAM 2014)}, month = {June}, pdf = {SAM14_Kurz.pdf}, title = {Real-time Kernel-based Multiple Target Tracking for Robotic Beating Heart Surgery}, year = {2014} }  Antonio Zea, Florian Faion, Marcus Baum, Uwe D. Hanebeck, Tracking Simplified Shapes Using a Stochastic Boundary,Proceedings of the Eighth IEEE Sensor Array and Multichannel Signal Processing Workshop (SAM 2014), A Coruña, Spain, June, 2014. BibTeX: @inproceedings{SAM14_Zea, abstract = {When tracking extended objects, it is often the case that the shape of the target cannot be fully observed due to issues of visibility, artifacts, or high noise, which can change with time. In these situations, it is a common approach to model targets as simpler shapes instead, such as ellipsoids or cylinders. However, these simplifications cause information loss from the original shape, which could be used to improve the estimation results. In this paper, we propose a way to recover information from these lost details in the form of a stochastic boundary, whose parameters can be dynamically estimated from received measurements. The benefits of this approach are evaluated by tracking an object using noisy, real-life RGBD data.}, address = {A Coruña, Spain}, author = {Antonio Zea and Florian Faion and Marcus Baum and Uwe D. Hanebeck}, booktitle = {Proceedings of the Eighth IEEE Sensor Array and Multichannel Signal Processing Workshop (SAM 2014)}, month = {June}, pdf = {SAM14_Zea.pdf}, title = {Tracking Simplified Shapes Using a Stochastic Boundary}, year = {2014} }  Maxim Dolgov, Gerhard Kurz, Uwe D. Hanebeck, State Estimation for Stochastic Hybrid Systems Based on Deterministic Dirac Mixture Approximation,Proceedings of the 2014 American Control Conference (ACC 2014), Portland, Oregon, USA, June, 2014. BibTeX: @inproceedings{ACC14_Dolgov, abstract = {In this paper, we consider state estimation for Stochastic Hybrid Systems (SHS). These are systems that possess both continuous-valued and discrete-valued dynamics. For SHS with nonlinear hybrid dynamics and/or non-Gaussian disturbances, state estimation can be implemented as an Interacting Multiple Model (IMM) particle filter. However, a disadvantage of particle filtering is the computational load caused by the large number of particles required for a sufficiently good estimation. We address this issue by first expressing the probability density that describes the state of the SHS as a collection of densities of the continuous-valued state only conditioned on the discrete-valued state. Then, we deterministically approximate these individual densities with Dirac mixtures. The employed approximation method places the particles so that a so called modified Cramér-von Mises distance between the true and the approximated density is minimized. Deterministic approximation requires far less particles than the stochastic sampling used by particle filters. To avoid particle degeneration that can occur when a density is multiplied with the likelihood, the filter uses progressive density correction. The presented filter is demonstrated in a numerical maneuvering target tracking example.}, address = {Portland, Oregon, USA}, author = {Maxim Dolgov and Gerhard Kurz and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2014 American Control Conference (ACC 2014)}, month = {June}, pdf = {ACC14_Dolgov.pdf}, title = {State Estimation for Stochastic Hybrid Systems Based on Deterministic Dirac Mixture Approximation}, year = {2014} }  Gerhard Kurz, Igor Gilitschenski, Uwe D. Hanebeck, Nonlinear Measurement Update for Estimation of Angular Systems Based on Circular Distributions,Proceedings of the 2014 American Control Conference (ACC 2014), Portland, Oregon, USA, June, 2014. BibTeX: @inproceedings{ACC14_Kurz, abstract = {In this paper, we propose a novel progressive nonlinear measurement update for circular states. This generalizes our previously published circular filter that so far was limited to identity measurement equations. The new update method is based on circular distributions in order to capture the periodic properties of a circular system better than conventional approaches that rely on standard Gaussian distributions. Besides the progressive measurement update, we propose two additional measurement updates that are obtained by adapting traditional filters to the circular case. Simulations show the superiority of the proposed progressive approach.}, address = {Portland, Oregon, USA}, author = {Gerhard Kurz and Igor Gilitschenski and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2014 American Control Conference (ACC 2014)}, month = {June}, pdf = {ACC14_Kurz.pdf}, title = {Nonlinear Measurement Update for Estimation of Angular Systems Based on Circular Distributions}, year = {2014} }  Gerhard Kurz, Uwe D. Hanebeck, Dynamic Surface Reconstruction by Recursive Fusion of Depth and Position Measurements,Journal of Advances in Information Fusion, 9(1):13–26, June, 2014. BibTeX: @article{JAIF14_Kurz, abstract = {Surface estimation can be performed based on position or depth measurements. We propose a method to fuse both types of measurements. Position measurements are obtained from landmarks on the surface, i.e., they are fixed to a certain point on the surface. In contrast, depth measurements reflect the depth measured along a line emanating from a depth camera and are not fixed to a position on the surface. The proposed approach uses a mixture of Cartesian and polar or spherical coordinate to treat both measurement types accordingly. By doing so, the uncertainties associated with the different measurement types are explicitly considered. The presented method represents the surface by a spline and is applicable to both 2D and 3D applications. Surface estimation is considered as a recursive filtering problem and standard nonlinear filtering methods suchas the unscented Kalman filter can be used to obtain surface estimates. We show a thorough evaluation of the proposed approach in simulations.}, author = {Gerhard Kurz and Uwe D. Hanebeck}, journal = {Journal of Advances in Information Fusion}, month = {June}, number = {1}, pages = {13--26}, pdf = {JAIF14_Kurz.pdf}, title = {Dynamic Surface Reconstruction by Recursive Fusion of Depth and Position Measurements}, url = {http://confcats_isif.s3.amazonaws.com/web-files/journals/entries/427_1_art_6_19271%5B1%5D.pdf}, volume = {9}, year = {2014} }  Marcus Baum, Peter Willet, Yaakov Bar-Shalom, Uwe D. Hanebeck, Approximate Calculation of Marginal Association Probabilities using a Hybrid Data Association Model,SPIE – Signal and Data Processing of Small Targets 2014, Baltimore, Maryland, USA, June, 2014. BibTeX: @inproceedings{SPIE14_Baum, abstract = {The calculation of marginal association probabilities is the major computational bottleneck in the Joint Probabilistic Data Association Filter (JPDAF). In this paper, we investigate approximations for the marginal associations that simplify the (computational complex) original association model in order to obtain efficient algorithms. In this context, we first discuss the Bakhtiar-Alavi algorithm and the Linear Multitarget Integrated Probabilistic Data Association (LMIPDA) algorithm. Second, we propose a fast novel approximation that exploits systematic combinations of the JPDAF measurement model with the Probabilistic Multi-Hypothesis Tracker (PMHT) measurement model. The discussed methods are evaluated by means of a tracking scenario with a high number of closely-spaced targets.}, address = {Baltimore, Maryland, USA}, author = {Marcus Baum and Peter Willet and Yaakov Bar-Shalom and Uwe D. Hanebeck}, booktitle = {SPIE -- Signal and Data Processing of Small Targets 2014}, doi = {10.1117/12.2053431}, month = {June}, title = {Approximate Calculation of Marginal Association Probabilities using a Hybrid Data Association Model}, url = {http://dx.doi.org/10.1117/12.2053431}, year = {2014} }  Gerhard Kurz, Igor Gilitschenski, Uwe D. Hanebeck, Efficient Evaluation of the Probability Density Function of a Wrapped Normal Distribution,arXiv preprint: Computation (stat.CO), May, 2014. BibTeX: @article{arXiv14_Kurz, abstract = {The wrapped normal distribution arises when a the density of a one-dimensional normal distribution is wrapped around the circle infinitely many times. At first look, evaluation of its probability density function appears tedious as an infinite series is involved. In this paper, we investigate the evaluation of two truncated series representations. As one representation performs well for small uncertainties whereas the other performs well for large uncertainties, we show that in all cases a small number of summands is sufficient to achieve high accuracy. }, author = {Gerhard Kurz and Igor Gilitschenski and Uwe D. Hanebeck}, journal = {arXiv preprint: Computation (stat.CO)}, month = {May}, title = {Efficient Evaluation of the Probability Density Function of a Wrapped Normal Distribution}, url = {http://arxiv.org/abs/1405.6397}, year = {2014} }  Marc Reinhardt, Benjamin Noack, Uwe D. Hanebeck, Reconstruction of Joint Covariance Matrices in Networked Linear Systems,Proceedings of the 48th Annual Conference on Information Sciences and Systems (CISS 2014), Princeton, New Jersey, USA, March, 2014. BibTeX: @inproceedings{CISS14_Reinhardt, abstract = {In this paper, a sample representation of the estimation error is utilized to reconstruct the joint covariance matrix in a distributed estimation system. The key idea is to sample uncorrelated and fully correlated noise according to different techniques at local estimators without knowledge about the processing of other nodes in the network. This way, the correlation between estimates is inherently linked to the representation of the corresponding sample sets. We discuss the noise processing, derive key attributes, and evaluate the precision of the covariance estimates.}, address = {Princeton, New Jersey, USA}, author = {Marc Reinhardt and Benjamin Noack and Uwe D. Hanebeck}, booktitle = {Proceedings of the 48th Annual Conference on Information Sciences and Systems (CISS 2014)}, month = {March}, pdf = {CISS14_Reinhardt.pdf}, title = {Reconstruction of Joint Covariance Matrices in Networked Linear Systems}, year = {2014} }  Uwe D. Hanebeck, Kernel-based Deterministic Blue-noise Sampling of Arbitrary Probability Density Functions,Proceedings of the 48th Annual Conference on Information Sciences and Systems (CISS 2014), Princeton, New Jersey, USA, March, 2014. BibTeX: @inproceedings{CISS14_Hanebeck, abstract = {This paper provides an efficient method for approximating a given continuous probability density function (pdf) by a Dirac mixture density. Optimal parameters are determined by systematically minimizing a distance measure. As standard distance measures are typically not well defined for discrete densities on continuous domains, we focus on shifting the mass distribution of the approximating density as close to the true density as possible. Instead of globally comparing the masses as in a previous paper, the key idea is to characterize individual Dirac components by kernel functions representing the spread of probability mass that is appropriate at a given location. A distance measure is then obtained by comparing the deviation between the true density and the induced kernel density. This new method for Dirac mixture approximation provides high-quality approximation results, can handle arbitrary pdfs, allows considering constraints for, e.g., maintaining certain moments, and is fast enough for online processing.}, address = {Princeton, New Jersey, USA}, author = {Uwe D. Hanebeck}, booktitle = {Proceedings of the 48th Annual Conference on Information Sciences and Systems (CISS 2014)}, month = {March}, pdf = {CISS14_Hanebeck.pdf}, title = {Kernel-based Deterministic Blue-noise Sampling of Arbitrary Probability Density Functions}, year = {2014} }  Jörg Fischer, Uwe D. Hanebeck, Distributed and Networked Model Predictive Control,Control Theory of Digitally Networked Dynamic Systems, pp. 111–167, Springer International Publishing, January, 2014. BibTeX: @incollection{SPP14_Fischer, abstract = {In this chapter, we consider the problem of controlling networked and distributed systems by means of model predictive control (MPC). The basic idea behind MPC is to repeatedly solve an optimal control problem based on a model of the system to be controlled. Every time a new measurement is available, the optimization problem is solved and the corresponding input sequence is applied until a new measurement arrives. As explained in the sequel, the advantages of MPC over other control strategies for networked systems are due to the fact that a model of the system is available at the controller side, which can be used to compensate for random bounded delays. At the same time, for each iteration of the optimization problem an optimal input sequence is calculated. In case of packet dropouts, one can reuse this information to maintain closed-loop stability and performance.}, author = {Jörg Fischer and Uwe D. Hanebeck}, booktitle = {Control Theory of Digitally Networked Dynamic Systems}, doi = {10.1007/978-3-319-01131-8_4}, editor = {Jan Lunze}, isbn = {978-3-319-01130-1}, month = {January}, pages = {111--167}, pdf = {SPP14_Fischer.pdf}, publisher = {Springer International Publishing}, title = {Distributed and Networked Model Predictive Control}, url = {http://dx.doi.org/10.1007/978-3-319-01131-8_4}, year = {2014} }  Marcus Baum, Uwe D. Hanebeck, Extended Object Tracking with Random Hypersurface Models,IEEE Transactions on Aerospace and Electronic Systems, 50:149–159, January, 2014. BibTeX: @article{TAES13_Baum_RHM, author = {Marcus Baum and Uwe D. Hanebeck}, doi = {10.1109/TAES.2013.120107}, journal = {IEEE Transactions on Aerospace and Electronic Systems}, month = {January}, pages = {149-159}, pdf = {TAES13_Baum.pdf}, title = {Extended Object Tracking with Random Hypersurface Models}, volume = {50}, year = {2014} }  2013 Jörg Fischer, Maxim Dolgov, Uwe D. Hanebeck, On Stability of Sequence-Based LQG Control,Proceedings of the 52st IEEE Conference on Decision and Control (CDC 2013), Florence, Italy, December, 2013. BibTeX: @inproceedings{CDC13_Fischer, abstract = {Sequence-based control is a well-established method applied in Networked Control Systems (NCS) to mitigate the effect of time-varying transmission delays and stochastic packet losses. The idea of this method is that the controller sends sequences of predicted control inputs to the actuator that can be applied in case a future transmission fails. In this paper, the stability properties of sequence-based LQG controllers are analyzed in terms of the boundedness of the long run average costs. On the one hand, we derive sufficient conditions, each for the boundedness and unboundedness of the costs. On the other hand, we give bounds on the minimal length of the control input sequence needed to stabilize a system.}, address = {Florence, Italy}, author = {Jörg Fischer and Maxim Dolgov and Uwe D. Hanebeck}, booktitle = {Proceedings of the 52st IEEE Conference on Decision and Control (CDC 2013)}, month = {December}, pdf = {CDC13_Fischer.pdf}, title = {On Stability of Sequence-Based LQG Control}, year = {2013} }  Gerhard Kurz, Peter Hegedus, Gabor Szabo, Uwe D. Hanebeck, Experimental Evaluation of Kinect and Inertial Sensors for Beating Heart Tracking,12. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC13), Innsbruck, Austria, November, 2013. BibTeX: @inproceedings{CURAC13_Kurz, abstract = {This paper investigates the use of Kinect depth sensors as well as inertial sensors in the context of beating heart surgery. In the past, various sensors have been used in attempts to track the beating heart, each with its own distinct set of advantages and disadvantages. With the availability of affordable structured-light depth sensors such as the Kinect and sufficiently small and low priced inertial sensors, the question of their suitability for beating heart tracking arises. We performed in-vivo experiments on a porcine heart in order to assess the feasibility of beating heart tracking based on these sensors.}, address = {Innsbruck, Austria}, author = {Gerhard Kurz and Peter Hegedus and Gabor Szabo and Uwe D. Hanebeck}, booktitle = {12. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC13)}, month = {November}, pdf = {CURAC13_Kurz.pdf}, title = {Experimental Evaluation of Kinect and Inertial Sensors for Beating Heart Tracking}, year = {2013} }  Igor Gilitschenski, Gerhard Kurz, Simon J. Julier, Uwe D. Hanebeck, Unscented Orientation Estimation Based on the Bingham Distribution,arXiv preprint: Systems and Control (cs.SY), November, 2013. BibTeX: @article{arXiv13_Gilitschenski, abstract = {Orientation estimation for 3D objects is a common problem that is usually tackled with traditional nonlinear filtering techniques such as the extended Kalman filter (EKF) or the unscented Kalman filter (UKF). Most of these techniques assume Gaussian distributions to account for system noise and uncertain measurements. This distributional assumption does not consider the periodic nature of pose and orientation uncertainty. We propose a filter that considers the periodicity of the orientation estimation problem in its distributional assumption. This is achieved by making use of the Bingham distribution, which is defined on the hypersphere and thus inherently more suitable to periodic problems. Furthermore, handling of non-trivial system functions is done using deterministic sampling in an efficient way. A deterministic sampling scheme reminiscent of the UKF is proposed for the nonlinear manifold of orientations. It is the first deterministic sampling scheme that truly reflects the nonlinear manifold of the orientation.}, author = {Igor Gilitschenski and Gerhard Kurz and Simon J. Julier and Uwe D. Hanebeck}, journal = {arXiv preprint: Systems and Control (cs.SY)}, month = {November}, title = {Unscented Orientation Estimation Based on the Bingham Distribution}, url = {http://arxiv.org/abs/1311.5796}, year = {2013} }  Gerhard Kurz, Florian Faion, Uwe D. Hanebeck, Constrained Object Tracking on Compact One-dimensional Manifolds Based on Directional Statistics,Proceedings of the Fourth IEEE GRSS International Conference on Indoor Positioning and Indoor Navigation (IPIN 2013), Montbeliard, France, October, 2013. BibTeX: @inproceedings{IPIN13_Kurz, abstract = {In this paper, we present a novel approach for tracking objects whose movement is constrained to a compact one-dimensional manifold, for example a conveyer belt or a mobile robot whose movement is restricted to tracks. Standard approaches either ignore the constraint at first and retroactively move the estimate to lie on the manifold, or consider the tracking problem on a manifold but falsely assume a Gaussian distribution. Our method explicitly takes the actual topology into account from the beginning and relies on special types of probability distributions defined on the proper manifold. In particular, we consider objects moving along a closed one-dimensional track, for example an ellipse, a polygon, or similar closed shapes. This shape is transformed to a circle with a homeomorphism. Thus, we can apply a recursive circular filtering algorithm to the constrained tracking problem. Finally, the estimate is transformed back to the original manifold. We evaluate the proposed method in an experiment by tracking a toy train moving along a track and comparing the results to those of traditional approaches for this problem.}, address = {Montbeliard, France}, author = {Gerhard Kurz and Florian Faion and Uwe D. Hanebeck}, booktitle = {Proceedings of the Fourth IEEE GRSS International Conference on Indoor Positioning and Indoor Navigation (IPIN 2013)}, month = {October}, pdf = {IPIN13_Kurz.pdf}, title = {Constrained Object Tracking on Compact One-dimensional Manifolds Based on Directional Statistics}, year = {2013} }  Maxim Dolgov, Jörg Fischer, Uwe D. Hanebeck, Event-based LQG Control over Networks Subject to Random Transmission Delays and Packet Losses,Proceedings of the 4th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NecSys 2013), Koblenz, Germany, September, 2013. BibTeX: @inproceedings{NecSys13_Dolgov, abstract = {In Networked Control Systems (NCS), data networks not only limit the amount of information exchanged by system components but are also subject to stochastic packet delays and losses. In this paper, we present a controller that simultaneously addresses these problems by combining event-based and sequence-based control methods. At every time step, the proposed controller calculates a sequence of predicted control inputs and based on the expected future LQG costs decides whether it transmits the control sequence to the actuator. The proposed controller is evaluated with simulations.}, address = {Koblenz, Germany}, author = {Maxim Dolgov and Jörg Fischer and Uwe D. Hanebeck}, booktitle = {Proceedings of the 4th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NecSys 2013)}, month = {September}, pdf = {NecSys13_Dolgov.pdf}, title = {Event-based LQG Control over Networks Subject to Random Transmission Delays and Packet Losses}, year = {2013} }  Joris Sijs, Uwe D. Hanebeck, Benjamin Noack, An Empirical Method to Fuse Partially Overlapping State Vectors for Distributed State Estimation,Proceedings of the 2013 European Control Conference (ECC 2013), Zürich, Switzerland, July, 2013. BibTeX: @inproceedings{ECC13_Sijs, abstract = {State fusion is a method for merging multiple estimates of the same state into a single fused estimate. Dealing with multiple estimates is one of the main concerns in distributed state estimation, where an estimated value of the desired state vector is computed in each node of a networked system. Most solutions for distributed state estimation currently available assume that every node computes an estimate of the (same) global state vector. This assumption is impractical for systems observing large-area processes, due to the sheer size of the process state. A more feasible solutions is one where each node estimates a part of the global state vector, allowing different nodes in the network to have overlapping state elements. Although such an approach should be accompanied by a corresponding state fusion method, existing solutions cannot be employed as they merely consider fusion of two different estimates with equal state representations. Therefore, an empirical solution is presented for fusing two state estimates that have partially overlapping state elements. A justification of the proposed fusion method is presented, along with an illustrative case study for observing the temperature profile of a large rod, though a formal derivation is future research.}, address = {Zürich, Switzerland}, author = {Joris Sijs and Uwe D. Hanebeck and Benjamin Noack}, booktitle = {Proceedings of the 2013 European Control Conference (ECC 2013)}, month = {July}, pdf = {ECC13_Sijs.pdf}, title = {An Empirical Method to Fuse Partially Overlapping State Vectors for Distributed State Estimation}, year = {2013} }  Marcus Baum, Uwe D. Hanebeck, The Kernel-SME Filter for Multiple Target Tracking,Proceedings of the 16th International Conference on Information Fusion (Fusion 2013), Istanbul, Turkey, July, 2013. BibTeX: @inproceedings{Fusion13_Baum, abstract = {We present a novel method for tracking multiple targets, called Kernel-SME filter, that does not require an enumeration of measurement-to-target associations. This method is a further development of the symmetric measurement equation (SME) filter that removes the data association uncertainty of the original measurement equation with the help of a symmetric transformation. The key idea of the Kernel-SME filter is to define a symmetric transformation that maps the measurements to a Gaussian mixture function. This transformation is scalable to a large number of targets and allows for deriving a Gaussian state estimator that only has a cubic runtime complexity in the number of targets.}, address = {Istanbul, Turkey}, author = {Marcus Baum and Uwe D. Hanebeck}, booktitle = {Proceedings of the 16th International Conference on Information Fusion (Fusion 2013)}, month = {July}, pdf = {Fusion13_Baum.pdf}, title = {The Kernel-SME Filter for Multiple Target Tracking}, year = {2013} }  Florian Faion, Marcus Baum, Uwe D. Hanebeck, Silhouette Measurements for Bayesian Object Tracking in Noisy Point Clouds,Proceedings of the 16th International Conference on Information Fusion (Fusion 2013), Istanbul, Turkey, July, 2013. BibTeX: @inproceedings{Fusion13_Faion, abstract = {In this paper, we consider the problem of jointly tracking the pose and shape of objects based on noisy data from cameras and depth sensors. Our proposed approach formalizes object silhouettes from image data as measurements within a Bayesian estimation framework. Projecting object silhouettes from images back into space yields a visual hull that constrains the object. In this work, we focus on the 2D case. We derive a general equation for the silhouette measurement update that explicitly considers segmentation uncertainty of each pixel. By assuming a bounded error for the silhouettes, we can reduce the complexity of the general solution to only consider uncertain edges and derive an approximate measurement update. In simulations, we show that the proposed approach dramatically improves point-cloud-based estimators, especially in the presence of high noise.}, address = {Istanbul, Turkey}, author = {Florian Faion and Marcus Baum and Uwe D. Hanebeck}, booktitle = {Proceedings of the 16th International Conference on Information Fusion (Fusion 2013)}, month = {July}, pdf = {Fusion13_Faion.pdf}, title = {Silhouette Measurements for Bayesian Object Tracking in Noisy Point Clouds}, year = {2013} }  Igor Gilitschenski, Gerhard Kurz, Uwe D. Hanebeck, Bearings-Only Sensor Scheduling Using Circular Statistics,Proceedings of the 16th International Conference on Information Fusion (Fusion 2013), Istanbul, Turkey, July, 2013. BibTeX: @inproceedings{Fusion13_Gilitschenski, abstract = {In this paper, we introduce a novel approach for scheduled tracking of a moving target based on bearings-only sensors. Unlike classical approaches that are typically based on the extended or unscented Kalman filter, we rely on circular statistics to describe probability distributions for angular measurements more accurately. As the energy available to sensors is limited in many scenarios, we introduce a scheduling algorithm that selects a subset of two sensors to be active at any given time step while minimizing the uncertainty of the state estimate. This is done by anticipating possible future measurements. We evaluate the proposed method in simulations and compare it to an UKF-based solution. Our evaluation demonstrates the superiority of the presented approach, particularly when high measurement uncertainty makes consideration of the circular geometry necessary.}, address = {Istanbul, Turkey}, author = {Igor Gilitschenski and Gerhard Kurz and Uwe D. Hanebeck}, booktitle = {Proceedings of the 16th International Conference on Information Fusion (Fusion 2013)}, month = {July}, pdf = {Fusion13_Gilitschenski.pdf}, title = {Bearings-Only Sensor Scheduling Using Circular Statistics}, year = {2013} }  Uwe D. Hanebeck, PGF 42: Progressive Gaussian Filtering with a Twist,Proceedings of the 16th International Conference on Information Fusion (Fusion 2013), Istanbul, Turkey, July, 2013. BibTeX: @inproceedings{Fusion13_Hanebeck, abstract = {A new Gaussian filter for estimating the state of nonlinear systems is derived that relies on two main ingredients: i) the progressive inclusion of the measurement information and ii) a tight coupling between a Gaussian density and its deterministic Dirac mixture approximation. No second Gaussian assumption for the joint density of state and measurement is required, so that the performance is much better than that of Linear Regression Kalman Filters (LRKFs), which heavily rely on this assumption. In addition, the new filter directly works with the generative system description. No Likelihood function is required. It can be used as a plug -in replacement for standard Gaussian filters such as the UKF.}, address = {Istanbul, Turkey}, author = {Uwe D. Hanebeck}, booktitle = {Proceedings of the 16th International Conference on Information Fusion (Fusion 2013)}, month = {July}, pdf = {Fusion13_Hanebeck.pdf}, title = {PGF 42: Progressive Gaussian Filtering with a Twist}, year = {2013} }  Marco F. Huber, Uwe D. Hanebeck, Gaussian Filtering for Polynomial Systems Based on Moment Homotopy,Proceedings of the 16th International Conference on Information Fusion (Fusion 2013), Istanbul, Turkey, July, 2013. BibTeX: @inproceedings{Fusion13_Huber, abstract = {This paper proposes Gaussian filters for polynomial systems with efficient solutions for both the prediction and the filter step. For the prediction step, computationally efficient closed-form solutions are derived for calculating the exact moments. In order to achieve a higher estimation quality, the filter step is solved without the usual additional assumption that state and measurement are jointly Gaussian distributed. As this significantly complicates the required moment calculation, a homotopy continuation method is employed that yields almost optimal results.}, address = {Istanbul, Turkey}, author = {Marco F. Huber and Uwe D. Hanebeck}, booktitle = {Proceedings of the 16th International Conference on Information Fusion (Fusion 2013)}, month = {July}, pdf = {Fusion13_Huber.pdf}, title = {Gaussian Filtering for Polynomial Systems Based on Moment Homotopy}, year = {2013} }  Gerhard Kurz, Igor Gilitschenski, Simon J. Julier, Uwe D. Hanebeck, Recursive Estimation of Orientation Based on the Bingham Distribution,Proceedings of the 16th International Conference on Information Fusion (Fusion 2013), Istanbul, Turkey, July, 2013. Best Student Paper Award First Runner-Up Certificate (PDF) BibTeX: @inproceedings{Fusion13_Kurz-Bingham, abstract = {Directional estimation is a common problem in many tracking applications. Traditional filters like the Kalman filter perform poorly because they fail to take the periodic nature of the problem into account. We present a recursive filter for directional data based on the Bingham distribution in two dimensions. The proposed filter can be applied to circular filtering problems with 180 degree symmetry, i.e., rotations by 180 degrees cannot be distinguished. It is easily implemented using standard numerical techniques and suitable for real-time applications. The presented approach is extensible to quaternions, which allow tracking arbitrary three-dimensional orientations. We evaluate our filter in a challenging scenario and compare it to a traditional Kalman filtering approach.}, address = {Istanbul, Turkey}, annote = {Best Student Paper Award First Runner-Up Certificate (PDF)}, author = {Gerhard Kurz and Igor Gilitschenski and Simon J. Julier and Uwe D. Hanebeck}, booktitle = {Proceedings of the 16th International Conference on Information Fusion (Fusion 2013)}, month = {July}, pdf = {Fusion13_Kurz-Bingham.pdf}, title = {Recursive Estimation of Orientation Based on the Bingham Distribution}, year = {2013} }  Gerhard Kurz, Uwe D. Hanebeck, Recursive Fusion of Noisy Depth and Position Measurements for Surface Reconstruction,Proceedings of the 16th International Conference on Information Fusion (Fusion 2013), Istanbul, Turkey, July, 2013. Winner Best Paper Award Certificate (PDF) BibTeX: @inproceedings{Fusion13_Kurz, abstract = {We propose an algorithm to combine both depth and position measurements when estimating a continuous surface. Position measurements originate from a fixed point on the surface, whereas depth measurements are determined by the intersection of the surface with a line originating from the depth sensor. Through fusion of both types of measurements, it is possible to benefit from the advantages of different sensors. The surface is obtained through interpolation of control points with splines, which allows a compact representation of the surface. In order to simplify the problem of intersecting the surface with lines originating from the depth sensor, we propose the use of polar or spherical coordinates in surface parameterization. The presented algorithm can be applied in both 2D and 3D settings and is independent of the particular choice of sensors. Our method can recursively include new information as it is obtained by using nonlinear filtering and it considers uncertainties associated with the measurements.}, address = {Istanbul, Turkey}, annote = {Winner Best Paper Award Certificate (PDF)}, author = {Gerhard Kurz and Uwe D. Hanebeck}, booktitle = {Proceedings of the 16th International Conference on Information Fusion (Fusion 2013)}, month = {July}, pdf = {Fusion13_Kurz.pdf}, title = {Recursive Fusion of Noisy Depth and Position Measurements for Surface Reconstruction}, year = {2013} }  Benjamin Noack, Simon J. Julier, Marc Reinhardt, Uwe D. Hanebeck, Nonlinear Federated Filtering,Proceedings of the 16th International Conference on Information Fusion (Fusion 2013), Istanbul, Turkey, July, 2013. BibTeX: @inproceedings{Fusion13_Noack, abstract = {The federated Kalman filter embodies an efficient and easy-to-implement solution for linear distributed estimation problems. Data from independent sensors can be processed locally and in parallel on different nodes without running the risk of erroneously ignoring possible dependencies. The underlying idea is to counteract the common process noise issue by inflating the joint process noise matrix. In this paper, the same trick is generalized to nonlinear models and non-Gaussian process noise. The probability density of the joint process noise is split into an exponential mixture of transition densities. By this means, the process noise is modeled to independently affect the local system models. The estimation results provided by the sensor devices can then be fused, just as if they were indeed independent.}, address = {Istanbul, Turkey}, author = {Benjamin Noack and Simon J. Julier and Marc Reinhardt and Uwe D. Hanebeck}, booktitle = {Proceedings of the 16th International Conference on Information Fusion (Fusion 2013)}, month = {July}, pdf = {Fusion13_Noack.pdf}, title = {Nonlinear Federated Filtering}, year = {2013} }  Florian Pfaff, Benjamin Noack, Uwe D. Hanebeck, Data Validation in the Presence of Stochastic and Set-Membership Uncertainties,Proceedings of the 16th International Conference on Information Fusion (Fusion 2013), Istanbul, Turkey, July, 2013. BibTeX: @inproceedings{Fusion13_Pfaff, abstract = {For systems suffering from different types of uncertainties, finding criteria for validating measurements can be challenging. In this paper, we regard both stochastic Gaussian noise with full or imprecise knowledge about correlations and unknown but bounded errors. The validation problems arising in the individual and combined cases are illustrated to convey different perspectives on the proposed conditions. Furthermore, hints are provided for the algorithmic implementation of the validation tests. Particular focus is put on ensuring a predefined lower bound for the probability of correctly classifying valid data.}, address = {Istanbul, Turkey}, author = {Florian Pfaff and Benjamin Noack and Uwe D. Hanebeck}, booktitle = {Proceedings of the 16th International Conference on Information Fusion (Fusion 2013)}, month = {July}, pdf = {Fusion13_Pfaff.pdf}, title = {Data Validation in the Presence of Stochastic and Set-Membership Uncertainties}, year = {2013} }  Marc Reinhardt, Benjamin Noack, Uwe D. Hanebeck, Advances in Hypothesizing Distributed Kalman Filtering,Proceedings of the 16th International Conference on Information Fusion (Fusion 2013), Istanbul, Turkey, July, 2013. BibTeX: @inproceedings{Fusion13_Reinhardt, abstract = {In this paper, linear distributed estimation is revisited on the basis of the hypothesizing distributed Kalman filter and equations for a flexible application of the algorithm are derived. We propose a new approximation for the mean-squared-error matrix and present techniques for automatically improving the hypothesis about the global measurement model. Utilizing these extensions, the precision of the filter is improved so that it asymptotically yields optimal results for time-invariant models. Pseudo-code for the implementation of the algorithm is provided and the lossless inclusion of out-of-sequence measurements is discussed. An evaluation demonstrates the effect of the new extensions and compares the results to state-of-the-art methods.}, address = {Istanbul, Turkey}, author = {Marc Reinhardt and Benjamin Noack and Uwe D. Hanebeck}, booktitle = {Proceedings of the 16th International Conference on Information Fusion (Fusion 2013)}, month = {July}, pdf = {Fusion13_Reinhardt.pdf}, title = {Advances in Hypothesizing Distributed Kalman Filtering}, year = {2013} }  Joris Sijs, Benjamin Noack, Uwe D. Hanebeck, Event-based State Estimation with Negative Information,Proceedings of the 16th International Conference on Information Fusion (Fusion 2013), Istanbul, Turkey, July, 2013. BibTeX: @inproceedings{Fusion13_Sijs, abstract = {To reduce the amount of data transfer in networked systems, measurements are usually taken only when an event occurs rather than periodically in time. However, this complicates estimation problems considerably as it is not guaranteed that new sensor data will be sampled. Therefore, an existing state estimator is extended so to cope with event-based measurements successfully, i.e., curtail any diverging behavior in the estimation results. To that extent, a general formulation of event sampling is proposed. This formulation is used to set up a state estimator combining stochastic as well as set-membership measurement information according to a hybrid update: when an event occurs the estimated state is updated using the stochastic measurement received (positive information), while at periodic time instants no measurement is received (negative information) and the update is based on knowledge that the sensor value lies within a bounded subset of the measurement space. An illustrative example further shows that the developed estimator has an improved representation of estimation errors compared to a purely stochastic estimator for various event sampling strategies.}, address = {Istanbul, Turkey}, author = {Joris Sijs and Benjamin Noack and Uwe D. Hanebeck}, booktitle = {Proceedings of the 16th International Conference on Information Fusion (Fusion 2013)}, month = {July}, pdf = {Fusion13_Sijs.pdf}, title = {Event-based State Estimation with Negative Information}, year = {2013} }  Jannik Steinbring, Uwe D. Hanebeck, S2KF: The Smart Sampling Kalman Filter,Proceedings of the 16th International Conference on Information Fusion (Fusion 2013), Istanbul, Turkey, July, 2013. BibTeX: @inproceedings{Fusion13_Steinbring, abstract = {An accurate Linear Regression Kalman Filter (LRKF) for nonlinear systems called Smart Sampling Kalman Filter (S²KF) is introduced. It is based on a new low-discrepancy Dirac Mixture approximation of Gaussian densities. The approximation comprises an arbitrary number of optimally and deterministically placed samples in the entire state space, so that the filter resolution can be adapted to either achieve high-quality results or meet computational constraints. For two samples per dimension, the S²KF comprises the UKF as a special case. With an increasing number of samples, the new filter quickly converges to the (typically infeasible) exact analytic LRKF. The S²KF can be seen as the ultimate generalization of all sample-based LRKFs such as the UKF, sigma-point filters, higher-order variants etc., as it homogeneously covers the state space with an arbitrary number of samples. It is evaluated by performing extended target tracking.}, address = {Istanbul, Turkey}, author = {Jannik Steinbring and Uwe D. Hanebeck}, booktitle = {Proceedings of the 16th International Conference on Information Fusion (Fusion 2013)}, month = {July}, pdf = {Fusion13_Steinbring.pdf}, title = {S2KF: The Smart Sampling Kalman Filter}, year = {2013} }  Antonio Zea, Florian Faion, Marcus Baum, Uwe D. Hanebeck, Level-Set Random Hyper Surface Models for Tracking Non-Convex Extended Objects,Proceedings of the 16th International Conference on Information Fusion (Fusion 2013), Istanbul, Turkey, July, 2013. BibTeX: @inproceedings{Fusion13_Zea, abstract = {This paper presents a novel approach to track a non-convex shape approximation of an extended target based on noisy point measurements. For this purpose, a novel type of Random Hypersurface Model (RHM), called Level-Set RHM is introduced that models the interior of a shape with level-sets of an implicit function. Based on the Level-Set RHM, a nonlinear measurement equation can be derived that allows to employ a standard Gaussian state estimator for tracking an extended object even in scenarios with high measurement noise. In this paper, shapes are described using polygons and shape regularization is applied using ideas from active contour models.}, address = {Istanbul, Turkey}, author = {Antonio Zea and Florian Faion and Marcus Baum and Uwe D. Hanebeck}, booktitle = {Proceedings of the 16th International Conference on Information Fusion (Fusion 2013)}, month = {July}, pdf = {Fusion13_Zea.pdf}, title = {Level-Set Random Hyper Surface Models for Tracking Non-Convex Extended Objects}, year = {2013} }  Jörg Fischer, Marc Reinhardt, Uwe D. Hanebeck, Optimal Sequence-Based Control and Estimation of Networked Linear Systems,at - Automatisierungstechnik, Oldenbourg Verlag, 61(7):467–476, July, 2013. BibTeX: @article{AT13_Fischer, abstract = {In this paper, a unified approach to sequence-based control and estimation of linear networked systems with multiple sensors is proposed. Time delays and data losses in the controller-actuator link are compensated by sending sequences of control inputs. The sequence-based design paradigm is further extended to the sensor-controller connections without increasing the load of the network. In this context, we present a recursive solution based on the Hypothesizing Distributed Kalman Filter (HKF) that is included in the overall sequence-based controller design.}, author = {Jörg Fischer and Marc Reinhardt and Uwe D. Hanebeck}, doi = {10.1524/auto.2013.0039}, journal = {at - Automatisierungstechnik, Oldenbourg Verlag}, month = {July}, number = {7}, pages = {467--476}, pdf = {AT13_Fischer.pdf}, title = {Optimal Sequence-Based Control and Estimation of Networked Linear Systems}, url = {http://dx.doi.org/10.1524/auto.2013.0039}, volume = {61}, year = {2013} }  Jörg Fischer, Achim Hekler, Maxim Dolgov, Uwe D. Hanebeck, Optimal Sequence-Based LQG Control over TCP-like Networks Subject to Random Transmission Delays and Packet Losses,Proceedings of the 2013 American Control Conference (ACC 2013), Washington D.C., USA, June, 2013. BibTeX: @inproceedings{ACC13_Fischer, abstract = {This paper addresses the problem of sequence-based controller design for Networked Control Systems (NCS), where control inputs and measurements are transmitted over TCP-like network connections that are subject to random transmission delays and packet losses. To cope with the network effects, the controller not only sends the current control input to the actuator, but also a sequence of predicted control inputs at every time step. In this setup, we derive an optimal solution to the Linear Quadratic Gaussian (LQG) control problem and prove that the separation principle holds. Simulations demonstrate the improved performance of this optimal controller compared to other sequence-based approaches.}, address = {Washington D.C., USA}, author = {Jörg Fischer and Achim Hekler and Maxim Dolgov and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2013 American Control Conference (ACC 2013)}, month = {June}, pdf = {ACC13_Fischer.pdf}, title = {Optimal Sequence-Based LQG Control over TCP-like Networks Subject to Random Transmission Delays and Packet Losses}, year = {2013} }  Igor Gilitschenski, Uwe D. Hanebeck, Efficient Deterministic Dirac Mixture Approximation,Proceedings of the 2013 American Control Conference (ACC 2013), Washington D.C., USA, June, 2013. BibTeX: @inproceedings{ACC13_Gilitschenski, abstract = {We propose an efficient method for approximating arbitrary Gaussian densities by a mixture of Dirac components. This approach is based on the modification of the classical Cramér-von Mises distance, which is adapted to the multivariate scenario by using Localized Cumulative Distributions (LCDs) as a replacement for the cumulative distribution function. LCDs consider the local probabilistic influence of aprobability density around a given point. Our modification of the Cramér-von Mises distance can be approximated for certain special cases in closed-form. The created measure is minimized in order to compute the positions of the Dirac components for a standard normal distribution.}, address = {Washington D.C., USA}, author = {Igor Gilitschenski and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2013 American Control Conference (ACC 2013)}, month = {June}, pdf = {ACC13_Gilitschenski.pdf}, title = {Efficient Deterministic Dirac Mixture Approximation}, year = {2013} }  Gerhard Kurz, Igor Gilitschenski, Uwe D. Hanebeck, Recursive Nonlinear Filtering for Angular Data Based on Circular Distributions,Proceedings of the 2013 American Control Conference (ACC 2013), Washington D.C., USA, June, 2013. BibTeX: @inproceedings{ACC13_Kurz, abstract = {Estimation of circular quantities is a widespread problem that occurs in many tracking and control applications. Commonly used approaches such as the Kalman filter, the extended Kalman filter (EKF), and the unscented Kalman filter (UKF) do not take periodicity explicitly into account, which can result in low estimation accuracy. We present a filtering algorithm for angular quantities in nonlinear systems that is based on circular statistics. The new filter switches between three different representations of probability distributions on the circle, the wrapped normal, the von Mises, and a Dirac mixture density. It can be seen as a systematic generalization of the UKF to circular statistics. We evaluate the proposed filter in simulations and show its superiority to conventional approaches.}, address = {Washington D.C., USA}, author = {Gerhard Kurz and Igor Gilitschenski and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2013 American Control Conference (ACC 2013)}, month = {June}, pdf = {ACC13_Kurz.pdf}, title = {Recursive Nonlinear Filtering for Angular Data Based on Circular Distributions}, year = {2013} }  Gerhard Kurz, Igor Gilitschenski, Simon J. Julier, Uwe D. Hanebeck, Recursive Estimation of Orientation Based on the Bingham Distribution,arXiv preprint: Systems and Control (cs.SY), April, 2013. BibTeX: @article{arXiv13_Kurz, abstract = {Directional estimation is a common problem in many tracking applications. Traditional filters such as the Kalman filter perform poorly because they fail to take the periodic nature of the problem into account. We present a recursive filter for directional data based on the Bingham distribution in two dimensions. The proposed filter can be applied to circular filtering problems with 180 degree symmetry, i.e., rotations by 180 degrees cannot be distinguished. It is easily implemented using standard numerical techniques and suitable for real-time applications. The presented approach is extensible to quaternions, which allow tracking arbitrary three-dimensional orientations. We evaluate our filter in a challenging scenario and compare it to a traditional Kalman filtering approach. }, author = {Gerhard Kurz and Igor Gilitschenski and Simon J. Julier and Uwe D. Hanebeck}, journal = {arXiv preprint: Systems and Control (cs.SY)}, month = {April}, title = {Recursive Estimation of Orientation Based on the Bingham Distribution}, url = {http://arxiv.org/abs/1304.8019}, year = {2013} }  Marcus Baum, Uwe D. Hanebeck, Extended Object Tracking with Random Hypersurface Models,arXiv preprint: Systems and Control (cs.SY), Draft accepted for publication in IEEE Transactions on Aerospace and Electronic Systems, April, 2013. BibTeX: @article{arXiv13_Baum, abstract = {The Random Hypersurface Model (RHM) is introduced that allows for estimating a shape approximation of an extended object in addition to its kinematic state. An RHM represents the spatial extent by means of randomly scaled versions of the shape boundary. In doing so, the shape parameters and the measurements are related via a measurement equation that serves as the basis for a Gaussian state estimator. Specific estimators are derived for elliptic and star-convex shapes. }, author = {Marcus Baum and Uwe D. Hanebeck}, journal = {arXiv preprint: Systems and Control (cs.SY), Draft accepted for publication in IEEE Transactions on Aerospace and Electronic Systems}, month = {April}, title = {Extended Object Tracking with Random Hypersurface Models}, url = {http://arxiv.org/abs/1304.5084}, year = {2013} }  2012 Marcus Baum, Patrick Ruoff, Dominik Itte, Uwe D. Hanebeck, Optimal Point Estimates for Multi-target States based on Kernel Distances,Proceedings of the 51st IEEE Conference on Decision and Control (CDC 2012), Maui, Hawaii, USA, December, 2012. BibTeX: @inproceedings{CDC12_Baum, abstract = {Almost all multi-target tracking systems have to generate point estimates for the targets, e.g., for displaying the tracks. The novel idea in this paper is to consider point estimates for multi-target states that are optimal according to a kernel distance measure. Because the kernel distance is a metric on point sets and ignores the target labels, shortcomings of Minimum Mean Squared Error (MMSE) estimates for multi-target states can be avoided. We show how the calculation of these point estimates can be casted as an optimization problem and it turns out that it corresponds to the problem of reducing the Probability Hypothesis Density (PHD) function to a Dirac mixture density. Finally, we discuss a generalization of the kernel distance called LCD distance, which does not require to choose a specific kernel width. The presented methods are evaluated in a Multiple-Hypotheses Tracker (MHT) setting with up to ten targets.}, address = {Maui, Hawaii, USA}, author = {Marcus Baum and Patrick Ruoff and Dominik Itte and Uwe D. Hanebeck}, booktitle = {Proceedings of the 51st IEEE Conference on Decision and Control (CDC 2012)}, month = {December}, pdf = {CDC12_Baum.pdf}, title = {Optimal Point Estimates for Multi-target States based on Kernel Distances}, year = {2012} }  Christof Chlebek, Achim Hekler, Uwe D. Hanebeck, Stochastic Nonlinear Model Predictive Control Based on Progressive Density Simplification,Proceedings of the 51st IEEE Conference on Decision and Control (CDC 2012), Maui, Hawaii, USA, December, 2012. BibTeX: @inproceedings{CDC12_Chlebek, abstract = {Increasing demand for Nonlinear Model Predictive Control with the ability to handle highly noise-corrupted systems has recently given rise to stochastic control approaches. Besides providing high-quality results within a noisy environment, these approaches have one problem in common, namely a high computational demand and, as a consequence, generally a short prediction horizon. In this paper, we propose to reduce the computational complexity of prediction and value function evaluation within the control horizon by simplifying the system progressively down to the deterministic case. Approximation of occurring probability densities by a specific representation, the deterministic Dirac mixture density, with a decreasing resolution (i.e., approximation quality) leads via natural decomposition to a point estimate and thus, can be treated in a deterministic manner. Hence, calculation of the remaining time steps requires considerably less computation time.}, address = {Maui, Hawaii, USA}, author = {Christof Chlebek and Achim Hekler and Uwe D. Hanebeck}, booktitle = {Proceedings of the 51st IEEE Conference on Decision and Control (CDC 2012)}, month = {December}, pdf = {CDC12_Chlebek.pdf}, title = {Stochastic Nonlinear Model Predictive Control Based on Progressive Density Simplification}, year = {2012} }  Achim Hekler, Jörg Fischer, Uwe D. Hanebeck, Sequence-Based Control for Networked Control Systems Based on Virtual Control Inputs,Proceedings of the 51st IEEE Conference on Decision and Control (CDC 2012), Maui, Hawaii, USA, December, 2012. BibTeX: @inproceedings{CDC12_Hekler, abstract = {In this paper, we address the problem of controlling a system over an unreliable UDP-like network that is affected by time-varying delays and randomly occurring packet losses. A major challenge of this setup is that the controller just has uncertain information about the control inputs actually applied by the actuator. The key idea of this work is to model the uncertain control inputs by random variables, the so-called virtual control inputs, which are characterized by discrete probability density functions. Subject to this probabilistic description, a novel, easy to implement sequencebased control approach is proposed that extends any given state feedback controller designed without consideration of the network-induced disturbances. The high performance of the proposed controller is demonstrated by means of Monte Carlo simulation runs with an inverted pendulum on a cart.}, address = {Maui, Hawaii, USA}, author = {Achim Hekler and Jörg Fischer and Uwe D. Hanebeck}, booktitle = {Proceedings of the 51st IEEE Conference on Decision and Control (CDC 2012)}, month = {December}, pdf = {CDC12_Hekler.pdf}, title = {Sequence-Based Control for Networked Control Systems Based on Virtual Control Inputs}, year = {2012} }  Benjamin Noack, Florian Pfaff, Uwe D. Hanebeck, Optimal Kalman Gains for Combined Stochastic and Set-Membership State Estimation,Proceedings of the 51st IEEE Conference on Decision and Control (CDC 2012), Maui, Hawaii, USA, December, 2012. BibTeX: @inproceedings{CDC12_Noack, abstract = {In state estimation theory, two directions are mainly followed in order to model disturbances and errors. Either uncertainties are modeled as stochastic quantities or they are characterized by their membership to a set. Both approaches have distinct advantages and disadvantages making each one inherently better suited to model different sources of estimation uncertainty. This paper is dedicated to the task of combining stochastic and set-membership estimation methods. A Kalman gain is derived that minimizes the mean squared error in the presence of both stochastic and additional unknown but bounded uncertainties, which are represented by Gaussian random variables and ellipsoidal sets, respectively. As a result, a generalization of the well-known Kalman filtering scheme is attained that reduces to the standard Kalman filter in the absence of set-membership uncertainty and that otherwise becomes the intersection of sets in case of vanishing stochastic uncertainty. The proposed concept also allows to prioritize either the minimization of the stochastic uncertainty or the minimization of the set-membership uncertainty.}, address = {Maui, Hawaii, USA}, author = {Benjamin Noack and Florian Pfaff and Uwe D. Hanebeck}, booktitle = {Proceedings of the 51st IEEE Conference on Decision and Control (CDC 2012)}, month = {December}, pdf = {CDC12_Noack.pdf}, title = {Optimal Kalman Gains for Combined Stochastic and Set-Membership State Estimation}, year = {2012} }  Marc Reinhardt, Benjamin Noack, Uwe D. Hanebeck, Decentralized Control Based on Globally Optimal Estimation,Proceedings of the 51st IEEE Conference on Decision and Control (CDC 2012), Maui, Hawaii, USA, December, 2012. BibTeX: @inproceedings{CDC12_Reinhardt, abstract = {A new method for globally optimal estimation in decentralized sensor-networks is applied to the decentralized control problem. The resulting approach is proven to be optimal when the nodes have access to all information in the network. More precisely, we utilize an algorithm for optimal distributed estimation in order to obtain local estimates whose combination yields the globally optimal estimate. When the interconnectivity is high, the local estimates are almost optimal, which motivates the application of the principle of separation. Thus, we optimize the controller and finally obtain a flexible algorithm, whose quality is evaluated in different scenarios. In applications where the strong requirements on a perfect communication cannot be guaranteed, we derive quality bounds by help of a detailed evaluation of the algorithm. When information is regularly exchanged, it is demonstrated that the algorithm performs almost optimally and therefore, offers system designers a flexible and easy to implement approach. The field of applications lies within the area of strongly networked systems, in particular, when communication disturbances cannot be foreseen or when the network structure is too complicated to apply optimized regulators.}, address = {Maui, Hawaii, USA}, author = {Marc Reinhardt and Benjamin Noack and Uwe D. Hanebeck}, booktitle = {Proceedings of the 51st IEEE Conference on Decision and Control (CDC 2012)}, month = {December}, pdf = {CDC12_Reinhardt.pdf}, title = {Decentralized Control Based on Globally Optimal Estimation}, year = {2012} }  Marcus Baum, Uwe D. Hanebeck, The Kernel-SME Filter for Multiple Target Tracking,arXiv preprint: Systems and Control (cs.SY), December, 2012. BibTeX: @article{arXiv12_Baum, abstract = {We present a novel method called Kernel-SME filter for tracking multiple targets when the association of the measurements to the targets is unknown. The method is a further development of the Symmetric Measurement Equation (SME) filter, which removes the data association uncertainty of the original measurement equation with the help of a symmetric transformation. The underlying idea of the Kernel-SME filter is to construct a symmetric transformation by means of mapping the measurements to a Gaussian mixture. This transformation is scalable to a large number of targets and allows for deriving a Gaussian state estimator that has a cubic time complexity in the number of targets. }, author = {Marcus Baum and Uwe D. Hanebeck}, journal = {arXiv preprint: Systems and Control (cs.SY)}, month = {December}, title = {The Kernel-SME Filter for Multiple Target Tracking}, url = {http://arxiv.org/abs/1212.5882}, year = {2012} }  Gerhard Kurz, Uwe D. Hanebeck, Image Stabilization with Model-Based Tracking for Beating Heart Surgery,11. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC12), Düsseldorf, Germany, November, 2012. BibTeX: @inproceedings{CURAC12_Kurz, abstract = {Performing surgery on the beating heart has significant advantages compared to cardiopulmonary bypass. However, when performed directly, it is very demanding for the surgeon. As an alternative, using a teleoperated robot for compensating the heart motion has been proposed. As an addition, this paper describes how stabilized images are obtained to create the illusion of operating on a stationary heart. For that purpose, the heart motion is tracked with a stochastic physical model. Based on correspondences obtained by motion tracking, image stabilization is considered as a scattered data interpolation problem. The proposed algorithms are evaluated on a heart phantom and in in-vivo experiments on a porcine heart, which show that there is very little residual motion in the stabilized images.}, address = {Düsseldorf, Germany}, author = {Gerhard Kurz and Uwe D. Hanebeck}, booktitle = {11. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC12)}, month = {November}, pdf = {CURAC12_Kurz.pdf}, title = {Image Stabilization with Model-Based Tracking for Beating Heart Surgery}, year = {2012} }  Jörg Fischer, Achim Hekler, Maxim Dolgov, Uwe D. Hanebeck, Optimal Sequence-Based LQG Control over TCP-like Networks Subject to Random Transmission Delays and Packet Losses,arXiv preprint: Systems and Control (cs.SY), November, 2012. BibTeX: @article{arXiv12_FischerLQG, abstract = {This paper addresses the problem of sequence-based controller design for Networked Control Systems (NCS), where control inputs and measurements are transmitted over TCP-like network connections that are subject to stochastic packet losses and time-varying packet delays. At every time step, the controller sends a sequence of predicted control inputs to the actuator in addition to the current control input. In this sequence-based setup, we derive an optimal solution to the Linear Quadratic Gaussian (LQG) control problem and prove that the separation principle holds. Simulations demonstrate the improved performance of this optimal controller compared to other sequence-based approaches.}, author = {Jörg Fischer and Achim Hekler and Maxim Dolgov and Uwe D. Hanebeck}, journal = {arXiv preprint: Systems and Control (cs.SY)}, month = {November}, title = {Optimal Sequence-Based LQG Control over TCP-like Networks Subject to Random Transmission Delays and Packet Losses}, url = {http://arxiv.org/abs/1211.3020}, year = {2012} }  Marcus Baum, Uwe D. Hanebeck, Extended Object Tracking Based on Set-Theoretic and Stochastic Fusion,IEEE Transactions on Aerospace and Electronic Systems, 48(4):3103–3115, October, 2012. BibTeX: @article{TAES12_Baum, abstract = {A novel approach for extended object tracking is presented. In contrast to existing approaches, no statistical assumptions about the location of the measurement sources on the extended target object are made. As a consequence, a combined set-theoretic and stochastic estimator is obtained that is robust to systematic errors in the target model. The benefits of the new approach is demonstrated by means of simulations.}, author = {Marcus Baum and Uwe D. Hanebeck}, doi = {10.1109/TAES.2012.6324680}, issn = {0018-9251}, journal = {IEEE Transactions on Aerospace and Electronic Systems}, month = {October}, number = {4}, pages = {3103--3115}, pdf = {TAES12_Baum.pdf}, title = {Extended Object Tracking Based on Set-Theoretic and Stochastic Fusion}, url = {http://dx.doi.org/10.1109/TAES.2012.6324680}, volume = {48}, year = {2012} }  Florian Faion, Simon Friedberger, Antonio Zea, Uwe D. Hanebeck, Intelligent Sensor-Scheduling for Multi-Kinect-Tracking,Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Vilamoura, Algarve, Portugal, October, 2012. BibTeX: @inproceedings{IROS12_Faion, abstract = {This paper describes a method to intelligently schedule a network of multiple RGBD sensors in a Bayesian object tracking scenario, with special focus on Microsoft Kinect devices. These setups have issues such as the large amount of raw data generated by the sensors and interference caused by overlapping fields of view. The proposed algorithm addresses these issues by selecting and exclusively activating the sensor that yields the best measurement, as defined by a novel stochastic model that also considers hardware constraints and intrinsic parameters. In addition, as existing solutions to toggle the sensors were found to be insufficient, the development of a hardware module, especially designed for quick toggling and synchronization with the depth stream, is also discussed. The algorithm then is evaluated within the scope of a multi-Kinect object tracking scenario and compared to other scheduling strategies.}, address = {Vilamoura, Algarve, Portugal}, author = {Florian Faion and Simon Friedberger and Antonio Zea and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)}, month = {October}, pdf = {IROS12_Faion.pdf}, title = {Intelligent Sensor-Scheduling for Multi-Kinect-Tracking}, year = {2012} }  Marcus Baum, Florian Faion, Uwe D. Hanebeck, Tracking Ground Moving Extended Objects using RGBD Data,Proceedings of the 2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2012), Hamburg, Germany, September, 2012. Nominee Best Student Paper Award BibTeX: @inproceedings{MFI12_Baum, abstract = {This paper is about an experimental set-up for tracking a ground moving mobile object from a bird's eye view. In this experiment, an RGB and depth camera is used for detecting moving points. The detected points serve as input for a probabilistic extended object tracking algorithm that simultaneously estimates the kinematic parameters and the shape parameters of the object. By this means, it is easy to discriminate moving objects from the background and the probabilistic tracking algorithm ensures a robust and smooth shape estimate. We provide an experimental evaluation of a recent Bayesian extended object tracking algorithm based on a so-called Random Hypersurface Model and give a comparison with active contour models.}, address = {Hamburg, Germany}, annote = {Nominee Best Student Paper Award}, author = {Marcus Baum and Florian Faion and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2012)}, month = {September}, pdf = {MFI12_Baum.pdf}, title = {Tracking Ground Moving Extended Objects using RGBD Data}, year = {2012} }  Marc Reinhardt, Benjamin Noack, Uwe D. Hanebeck, The Hypothesizing Distributed Kalman Filter,Proceedings of the 2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2012), Hamburg, Germany, September, 2012. Nominee Best Student Paper Award BibTeX: @inproceedings{MFI12_Reinhardt, abstract = {This paper deals with distributed information processing in sensor networks. We propose the Hypothesizing Distributed Kalman Filter that incorporates an assumption of the global measurement model into the distributed estimation process. The procedure is based on the Distributed Kalman Filter and inherits its optimality when the assumption about the global measurement uncertainty is met. Recursive formulas for local processing as well as for fusion are derived. We show that the proposed algorithm yields the same results, no matter whether the measurements are processed locally or globally, even when the process noise is not negligible. For further processing of the estimates, a consistent bound for the error covariance matrix is derived. All derivations and explanations are illustrated by means of a new classification scheme for estimation processes.}, address = {Hamburg, Germany}, annote = {Nominee Best Student Paper Award}, author = {Marc Reinhardt and Benjamin Noack and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2012)}, month = {September}, pdf = {MFI12_Reinhardt.pdf}, title = {The Hypothesizing Distributed Kalman Filter}, year = {2012} }  Jörg Fischer, Marc Reinhardt, Uwe D. Hanebeck, Optimal Sequence-Based Control and Estimation of Networked Linear Systems,arXiv preprint: Systems and Control (cs.SY), August, 2012. BibTeX: @article{arXiv12_Fischer, abstract = {In this paper, a unified approach to sequence-based control and estimation of linear networked systems with multiple sensors is proposed. Time delays and data losses in the controller-actuator-channel are compensated by sending sequences of control inputs. The sequence-based design paradigm is further extended to the sensor-controller-channels without increasing the load of the network. In this context, we present a recursive solution based on the Hypothesizing Distributed Kalman Filter (HKF) that is included in the overall sequence-based controller design.}, author = {Jörg Fischer and Marc Reinhardt and Uwe D. Hanebeck}, journal = {arXiv preprint: Systems and Control (cs.SY)}, month = {August}, title = {Optimal Sequence-Based Control and Estimation of Networked Linear Systems}, url = {http://arxiv.org/abs/1211.5086v1}, year = {2012} }  Marcus Baum, Student Research Highlight: Simultaneous Tracking and Shape Estimation of Extended Targets,IEEE Aerospace and Electronic Systems Magazine, 27(7):42–44, July, 2012. BibTeX: @article{SYSAES_Baum, abstract = {Target tracking algorithms are usually based on the assumption that the target extent is small compared to the measurement noise; hence, the target is modeled as a mathematical point. However, if the target extent is rather large, the target may cause multiple sensor measurements from different spatially distributed reflection centers. In this case, the modeling of the target extent is essential. In particular, the author looks at the random hypersurface model and its role in tracking; the tracking method is evaluated using a Microsoft(R) Kinect(TM) sensor as an example.}, author = {Marcus Baum}, doi = {10.1109/MAES.2012.6328840}, issn = {0885-8985}, journal = {IEEE Aerospace and Electronic Systems Magazine}, month = {July}, number = {7}, pages = {42--44}, title = {Student Research Highlight: Simultaneous Tracking and Shape Estimation of Extended Targets}, url = {http://dx.doi.org/10.1109/MAES.2012.6328840}, volume = {27}, year = {2012} }  Marc Peter Deisenroth, Ryan Darby Turner, Marco F. Huber, Uwe D. Hanebeck, Carl Edward Rasmussen, Robust Filtering and Smoothing with Gaussian Processes,IEEE Transactions on Automatic Control, 57(7):1865–1871, July, 2012. BibTeX: @article{TAC12_Deisenroth, abstract = {We propose a principled algorithm for robust Bayesian filtering and smoothing in nonlinear stochastic dynamic systems when both the transition function and the measurement function are described by non-parametric Gaussian process (GP) models. GPs are gaining increasing importance in signal processing, machine learning, robotics, and control for representing unknown system functions by posterior probability distributions. This modern way of system identification is more robust than finding point estimates of a parametric function representation. Our principled filtering/smoothing approach for GP dynamic systems is based on analytic moment matching in the context of the forward-backward algorithm. Our numerical evaluations demonstrate the robustness of the proposed approach in situations where other state-of-the-art Gaussian filters and smoothers can fail.}, author = {Marc Peter Deisenroth and Ryan Darby Turner and Marco F. Huber and Uwe D. Hanebeck and Carl Edward Rasmussen}, doi = {10.1109/TAC.2011.2179426}, issn = {0018-9286}, journal = {IEEE Transactions on Automatic Control}, keywords = {GP dynamic systems;analytic moment matching;control systems;forward-backward algorithm;machine learning;measurement function;nonlinear stochastic dynamic systems;nonparametric Gaussian process;parametric function representation;point estimation;posterior probability distributions;robotics;robust Bayesian filtering;robust Bayesian smoothing;signal processing;system identification;transition function;unknown system function representation;Bayes methods;Gaussian processes;identification;nonlinear dynamical systems;nonparametric statistics;smoothing methods;statistical distributions;}, month = {July}, number = {7}, pages = {1865--1871}, pdf = {TAC12_Deisenroth.pdf}, title = {Robust Filtering and Smoothing with Gaussian Processes}, url = {http://dx.doi.org/10.1109/TAC.2011.2179426}, volume = {57}, year = {2012} }  Marcus Baum, Florian Faion, Uwe D. Hanebeck, Modeling the Target Extent with Multiplicative Noise,Proceedings of the 15th International Conference on Information Fusion (Fusion 2012), Singapore, July, 2012. BibTeX: @inproceedings{Fusion12_Baum, abstract = {Extended target tracking deals with simultaneously tracking the shape and the kinematic parameters of a target. In this work, we formulate the extended target tracking problem as a state estimation problem with both multiplicative and additive measurement noise. In case of extended targets with known orientation, we show that the best linear estimator is not consistent and, hence, is unsuitable for this problem. In order to overcome this issue, we propose a quadratic estimator for a recursive closed-form measurement update. Simulations demonstrate the performance of the estimator.}, address = {Singapore}, author = {Marcus Baum and Florian Faion and Uwe D. Hanebeck}, booktitle = {Proceedings of the 15th International Conference on Information Fusion (Fusion 2012)}, month = {July}, pdf = {Fusion12_Baum-MultNoise.pdf}, title = {Modeling the Target Extent with Multiplicative Noise}, year = {2012} }  Marcus Baum, Peter Willett, Uwe D. Hanebeck, Calculating Some Exact MMOSPA Estimates for Particle Distributions,Proceedings of the 15th International Conference on Information Fusion (Fusion 2012), Singapore, July, 2012. BibTeX: @inproceedings{Fusion12_BaumWillett, abstract = {In this work, we present some exact algorithms for calculating the minimum mean optimal sub-pattern assignment (MMOSPA) estimate for probability densities that are represented with particles. First, a polynomial-time algorithm for two targets is derived by reducing the problem to the enumeration of the cells of a hyperplane arrangement. Second, we present a linear-time algorithm for an arbitrary number of scalar target states, which is based on the insight that the MMOSPA estimate coincides with the mean of the order statistics.}, address = {Singapore}, author = {Marcus Baum and Peter Willett and Uwe D. Hanebeck}, booktitle = {Proceedings of the 15th International Conference on Information Fusion (Fusion 2012)}, month = {July}, pdf = {Fusion12_Baum-MMOSPA.pdf}, title = {Calculating Some Exact MMOSPA Estimates for Particle Distributions}, year = {2012} }  Alessio Benavoli, Benjamin Noack, Pushing Kalman's Idea to the Extremes,Proceedings of the 15th International Conference on Information Fusion (Fusion 2012), Singapore, July, 2012. BibTeX: @inproceedings{Fusion12_BenavoliNoack, abstract = {The paper focuses on the fundamental idea of Kalman’s seminal paper: how to solve the filtering problem from the only knowledge of the first two moments of the noise terms. In this paper, by exploiting set of distributions based filtering, we solve this problem without introducing additional assumptions on the distributions of the noise terms (e.g., Gaussianity) or on the final form of the estimator (e.g., linear estimator). Given the moments (e.g., mean and variance) of random variable X, it is possible to define the set of all distributions that are compatible with the moments information. This set of distributions can be equivalently characterized by its extreme distributions which is a family of mixtures of Dirac’s deltas. The lower and upper expectation of any function g of X are obtained in correspondence of these extremes and can be computed by solving a linear programming problem. The filtering problem can then be solved by running iteratively this linear programming problem.}, address = {Singapore}, author = {Alessio Benavoli and Benjamin Noack}, booktitle = {Proceedings of the 15th International Conference on Information Fusion (Fusion 2012)}, month = {July}, pdf = {Fusion12_BenavoliNoack.pdf}, title = {Pushing Kalman's Idea to the Extremes}, year = {2012} }  Florian Faion, Marcus Baum, Uwe D. Hanebeck, Tracking 3D Shapes in Noisy Point Clouds with Random Hypersurface Models,Proceedings of the 15th International Conference on Information Fusion (Fusion 2012), Singapore, July, 2012. BibTeX: @inproceedings{Fusion12_Faion-CylinderTracking, abstract = {Depth sensors such as the Microsoft Kinect™depth sensor provide three dimensional point clouds of an observed scene. In this paper, we employ Random Hypersurface Models (RHMs), which is a modeling technique for extended object tracking, to point cloud fusion in order to track a shape approximation of an underlying object. We present a novel variant of RHMs to model shapes in 3D space. Based on this novel model, we develop a specialized algorithm to track persons by approximating their shapes as cylinders. For evaluation, we utilize a Kinect network and simulations based on a stochastic sensor model.}, address = {Singapore}, author = {Florian Faion and Marcus Baum and Uwe D. Hanebeck}, booktitle = {Proceedings of the 15th International Conference on Information Fusion (Fusion 2012)}, month = {July}, pdf = {Fusion12_Faion-CylinderTracking.pdf}, title = {Tracking 3D Shapes in Noisy Point Clouds with Random Hypersurface Models}, year = {2012} }  Florian Faion, Patrick Ruoff, Antonio Zea, Uwe D. Hanebeck, Recursive Bayesian Calibration of Depth Sensors with Non-Overlapping Views,Proceedings of the 15th International Conference on Information Fusion (Fusion 2012), Singapore, July, 2012. BibTeX: @inproceedings{Fusion12_Faion-RecursiveCalibration, abstract = {In this paper we present a recursive Bayesian method to calibrate rigidly linked depth sensors with non-overlapping fields of view. The extrinsic parameters of this setup are obtained by rotating and translating both cameras, estimating the local transformations using point feature correspondences, and finally using these values to recursively find a solution to the matrix equation $\matA_k\matX=\matX\matB_k$. The algorithm is based on a Bayesian estimator, which allows the consideration of camera-specific measurement noise and permits the system to adapt naturally to changes in the extrinsic parameters. The derived equations were carefully chosen to be free from singularities. This paper also includes a thorough evaluation based on synthetic and real data to show the effectiveness of the algorithm.}, address = {Singapore}, author = {Florian Faion and Patrick Ruoff and Antonio Zea and Uwe D. Hanebeck}, booktitle = {Proceedings of the 15th International Conference on Information Fusion (Fusion 2012)}, month = {July}, pdf = {Fusion12_Faion.pdf}, title = {Recursive Bayesian Calibration of Depth Sensors with Non-Overlapping Views}, year = {2012} }  Jörg Fischer, Achim Hekler, Uwe D. Hanebeck, State Estimation in Networked Control Systems,Proceedings of the 15th International Conference on Information Fusion (Fusion 2012), Singapore, July, 2012. BibTeX: @inproceedings{Fusion12_Fischer, abstract = {We consider the problem of state estimation in a Networked Control System, where measurements and control inputs are transmitted via a communication network. The network is subject to time-varying delays and stochastic data losses and does not provide acknowledgments of successfully transmitted data packets. A challenge that arises in this configuration is that the estimator has only uncertain information about the actually applied control inputs. In this paper, we derive a multiple-model based estimator that uses the state measurements to estimate the applied control inputs so that the overall state estimation is improved. The efficiency of the proposed approach is demonstrated by means of Monte-Carlo-Simulation runs with an inverted pendulum on a cart.}, address = {Singapore}, author = {Jörg Fischer and Achim Hekler and Uwe D. Hanebeck}, booktitle = {Proceedings of the 15th International Conference on Information Fusion (Fusion 2012)}, month = {July}, pdf = {Fusion12_Fischer.pdf}, title = {State Estimation in Networked Control Systems}, year = {2012} }  Igor Gilitschenski, Uwe D. Hanebeck, A Robust Computational Test for Overlap of Two Arbitrary-dimensional Ellipsoids in Fault-Detection of Kalman Filters,Proceedings of the 15th International Conference on Information Fusion (Fusion 2012), Singapore, July, 2012. BibTeX: @inproceedings{Fusion12_Gilitschenski, abstract = {On-line fault-detection in uncertain measurement and estimation systems is of particular interest in many applications. In certain systems based on the Kalman filter, this test can be performed by checking whether hyperellipsoids overlap. This test can be applied to detecting failure in the system itself or in the sensors used to determine the system state. To facilitate the practical application of such tests, we describe a simple condition for overlap of two ellipsoids and propose an efficient algorithmic implementation for testing this condition. There are applications in many other areas, such as collision avoidance or computer graphics. Our proposal makes use of Leverriere's algorithm and Sturm's theorem, a result of algebraic geometry. Thus, no approximative methods, such as root finding or minimization are needed. Furthermore, the complexity of the algorithm is fixed for a fixed problem dimension.}, address = {Singapore}, author = {Igor Gilitschenski and Uwe D. Hanebeck}, booktitle = {Proceedings of the 15th International Conference on Information Fusion (Fusion 2012)}, month = {July}, pdf = {Fusion12_Gilitschenski.pdf}, title = {A Robust Computational Test for Overlap of Two Arbitrary-dimensional Ellipsoids in Fault-Detection of Kalman Filters}, year = {2012} }  Uwe D. Hanebeck, Jannik Steinbring, Progressive Gaussian Filtering Based on Dirac Mixture Approximations,Proceedings of the 15th International Conference on Information Fusion (Fusion 2012), Singapore, July, 2012. BibTeX: @inproceedings{Fusion12_Hanebeck, abstract = {In this paper, we propose a progressive Gaussian filter, where the measurement information is continuously included into the given prior estimate (although we perform observations at discrete time steps). The key idea is to derive a system of ordinary first-order differential equations (ODE) that is used for continuously tracking the true non-Gaussian posterior by its best matching Gaussian approximation. Calculating the required moments of the true posterior is performed based on corresponding Dirac Mixture approximations. The performance of the new filter is evaluated in comparison with state-of-the-art filters by means of a canonical benchmark example, the discrete-time cubic sensor problem.}, address = {Singapore}, author = {Uwe D. Hanebeck and Jannik Steinbring}, booktitle = {Proceedings of the 15th International Conference on Information Fusion (Fusion 2012)}, month = {July}, pdf = {Fusion12_Hanebeck.pdf}, title = {Progressive Gaussian Filtering Based on Dirac Mixture Approximations}, year = {2012} }  Achim Hekler, Jörg Fischer, Uwe D. Hanebeck, Control over Unreliable Networks Based on Control Input Densities,Proceedings of the 15th International Conference on Information Fusion (Fusion 2012), Singapore, July, 2012. BibTeX: @inproceedings{Fusion12_Hekler, abstract = {Time delays and data losses arising from an unreliable communication between the components of a control loop decrease the quality of control and thus, have to be incorporated explicitly in the control decision. In this paper, a novel concept, the so-called virtual control inputs, is presented, which extends the well-established control technique of sending sequences of future inputs by incorporating also the potential effects of previously transmitted sequences on the future system behavior. The key idea of this paper is to model the unknown future inputs as random variables characterized by probability density functions over the finite set of potential future inputs. Subject to this probabilistic description of the future inputs, the controller determines the optimal open-loop sequence over a finite horizon. The high capacity of the proposed approach is demonstrated by simulations, in which a sensor manager schedules sensors for tracking a mobile object.}, address = {Singapore}, author = {Achim Hekler and Jörg Fischer and Uwe D. Hanebeck}, booktitle = {Proceedings of the 15th International Conference on Information Fusion (Fusion 2012)}, month = {July}, pdf = {Fusion12_Hekler.pdf}, title = {Control over Unreliable Networks Based on Control Input Densities}, year = {2012} }  Benjamin Noack, Florian Pfaff, Uwe D. Hanebeck, Combined Stochastic and Set-Membership Information Filtering in Multisensor Systems,Proceedings of the 15th International Conference on Information Fusion (Fusion 2012), Singapore, July, 2012. BibTeX: @inproceedings{Fusion12_Noack, abstract = {In state estimation theory, stochastic and set-membership approaches are generally considered separately from each other. Both concepts have distinct advantages and disadvantages making each one inherently better suited to model different sources of estimation uncertainty. In order to better utilize the potentials of both concepts, the core element of this paper is a Kalman filtering scheme that allows for a simultaneous treatment of stochastic and set-membership uncertainties. An uncertain quantity is herein modeled by a set of Gaussian densities. Since many modern applications operate in networked systems that may consist of a multitude of local processing units and sensor nodes, estimates have to be computed in a distributed manner and measurements may arrive at high frequency. An algebraic reformulation of the Kalman filter, the information filter, significantly eases the implementation of such distributed fusion architectures. This paper explicates how stochastic and set-membership uncertainties can simultaneously be treated within this information form and compared to the Kalman filter, it becomes apparent that the quality of some required approximations is enhanced.}, address = {Singapore}, author = {Benjamin Noack and Florian Pfaff and Uwe D. Hanebeck}, booktitle = {Proceedings of the 15th International Conference on Information Fusion (Fusion 2012)}, month = {July}, pdf = {Fusion12_Noack.pdf}, title = {Combined Stochastic and Set-Membership Information Filtering in Multisensor Systems}, year = {2012} }  Ferdinand Packi, Uwe D. Hanebeck, Robust NLOS Discrimination for Range-Based Acoustic Pose Tracking,Proceedings of the 15th International Conference on Information Fusion (Fusion 2012), Singapore, July, 2012. BibTeX: @inproceedings{Fusion12_Packi, abstract = {Indoor localization is a field in research with many competing technologies using different kinds of media. A common challenge faced by most systems is dealing with Non-Line-of-Sight (NLOS) conditions. We are addressing this issue with focus on sound in the frequency range above 20 kHz, as we encountered severe occurrence of outliers due to multipath propagation, by reflections, and from occlusion. The proper discrimination of erroneous signals is of special concern during initialization time of the tracking system. During run time, the computationally demanding process can be spared, if motion is modelled and stochastic filtering techniques are applied. This paper depicts solutions for both cases, and demonstrates that a combined use of static and dynamic localization methods delivers increased robustness at an affordable computational cost.}, address = {Singapore}, author = {Ferdinand Packi and Uwe D. Hanebeck}, booktitle = {Proceedings of the 15th International Conference on Information Fusion (Fusion 2012)}, month = {July}, pdf = {Fusion12_Packi.pdf}, title = {Robust NLOS Discrimination for Range-Based Acoustic Pose Tracking}, year = {2012} }  Marc Reinhardt, Benjamin Noack, Uwe D. Hanebeck, On Optimal Distributed Kalman Filtering in Non-ideal Situations,Proceedings of the 15th International Conference on Information Fusion (Fusion 2012), Singapore, July, 2012. BibTeX: @inproceedings{Fusion12_Reinhardt, abstract = {The distributed processing of measurements and the subsequent data fusion is called Track-to-Track fusion. Although a solution for the Track-to-Track fusion that is equivalent to a central processing scheme has been proposed, this algorithm suffers from strict requirements regarding the local availability of knowledge about utilized models of the remote nodes. By means of simple examples, we investigate the effects of incorrectly assumed models and trace the errors back to a bias, which we derive in closed form. We propose an extension to the exact Track-to-Track fusion algorithm that corrects the bias after arbitrarily many time steps. This new approach yields optimal results when the assumptions about the measurement models are correct and otherwise still provides the exact value for the mean-squared-error matrix. The performance of this algorithm is demonstrated and applications are presented that, e.g.,~allow the employment of nonlinear filter methods.}, address = {Singapore}, author = {Marc Reinhardt and Benjamin Noack and Uwe D. Hanebeck}, booktitle = {Proceedings of the 15th International Conference on Information Fusion (Fusion 2012)}, month = {July}, pdf = {Fusion12_Reinhardt.pdf}, title = {On Optimal Distributed Kalman Filtering in Non-ideal Situations}, year = {2012} }  Marc Reinhardt, Benjamin Noack, Uwe D. Hanebeck, Closed-form Optimization of Covariance Intersection for Low-dimensional Matrices,Proceedings of the 15th International Conference on Information Fusion (Fusion 2012), Singapore, July, 2012. BibTeX: @inproceedings{Fusion12_Reinhardt-FastCI, abstract = {The fusion under unknown correlations is an important technique in sensor-network information processing as the cross-correlations between different estimates remain often unknown to the nodes. Covariance intersection is a wide-spread and efficient algorithm to fuse estimates under such uncertain conditions. Although different optimization criteria have been developed, the trace or determinant minimization of the fused covariance matrix seems to be most meaningful. However, this minimization requires numeric solutions of a convex optimization problem. We derive an algorithm to reduce this nonlinear optimization to the well-known polynomial root-finding problem. This allows us to present closed-form solutions for the determinant criterion when the dimension of the occurring covariance matrices is at most~4 and for the trace criterion when the dimension of the covariance matrices is at most~3. We demonstrate the effectiveness of the approach by means of a speed evaluation.}, address = {Singapore}, author = {Marc Reinhardt and Benjamin Noack and Uwe D. Hanebeck}, booktitle = {Proceedings of the 15th International Conference on Information Fusion (Fusion 2012)}, month = {July}, pdf = {Fusion12_Reinhardt-FastCI.pdf}, title = {Closed-form Optimization of Covariance Intersection for Low-dimensional Matrices}, year = {2012} }  Achim Hekler, Christof Chlebek, Uwe D. Hanebeck, Open-Loop Feedback Control of Nonlinear Stochastic Systems Based on Deterministic Dirac Mixture Densities,Proceedings of the 2012 American Control Conference (ACC 2012), Montréal, Canada, June, 2012. BibTeX: @inproceedings{ACC12_Hekler, abstract = {The main problem of stochastic nonlinear model predictive control (SNMPC) is that the equations for state prediction and calculation of the expected reward are in general not solvable in closed form. A popular approach is to approximate the occurring continuous probability density functions by a discrete density representation, which allows an analytical solution of the SNMPC equations. In this paper, we propose to draw the samples not randomly as in Monte Carlo based methods, but systematically by minimizing a distance measure. In doing so, fewer components are generally required to represent the underlying probability density while achieving the same approximation quality. Especially if the evaluation of the expected reward is computationally expensive, this property affects the complexity of computation significantly. By means of a path planning problem, we have substantiated this statement with several simulation runs.}, address = {Montréal, Canada}, author = {Achim Hekler and Christof Chlebek and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2012 American Control Conference (ACC 2012)}, month = {June}, pdf = {ACC12_Hekler.pdf}, title = {Open-Loop Feedback Control of Nonlinear Stochastic Systems Based on Deterministic Dirac Mixture Densities}, year = {2012} }  Daniel Lyons, Jan-Peter Calliess, Uwe D. Hanebeck, Chance Constrained Model Predictive Control for Multi-Agent Systems with Coupling Constraints,Proceedings of the 2012 American Control Conference (ACC 2012), Montréal, Canada, June, 2012. BibTeX: @inproceedings{ACC12_Lyons, abstract = {We consider stochastic model predictive control of a multi-agent systems with constraints on the probabilities of inter-agent collisions. First, we propose a method based on sample average approximation of the collision probabilities to make the stochastic control problem computationally tractable. Its approximation error vanishes for fixed control inputs as the number of samples goes to infinity. However, empirical results indicate that the complexity of the resulting optimization problem can be too high to be solved under under real-time requirements. To alleviate the computational burden we propose a second approach that uses probabilistic bounds to determine regions of increased probability of presence for each agent and introduce constraints for the control problem prohibiting overlap of these regions. We prove that the resulting problem is conservative for the original problem, i.e., every control strategy that is feasible under our new constraints will automatically be feasible for the true original problem. Furthermore, we present simulations demonstrating better run-time performance of our second approach compared to the sample average approximation. Finally, we empirically show that our approach is better suited than robust control approaches for situations in which the systems under control are affected by stochastic disturbances.}, address = {Montréal, Canada}, author = {Daniel Lyons and Jan-Peter Calliess and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2012 American Control Conference (ACC 2012)}, month = {June}, pdf = {ACC12_Lyons.pdf}, title = {Chance Constrained Model Predictive Control for Multi-Agent Systems with Coupling Constraints}, year = {2012} }  Achim Hekler, Jörg Fischer, Uwe D. Hanebeck, Sequence-Based Control for Networked Control Systems Based on Virtual Control Inputs,arXiv preprint: Systems and Control (cs.SY), June, 2012. BibTeX: @article{arXiv12_Hekler, abstract = {In this paper, we address the problem of controlling a system over an unreliable connection that is affected by time-varying delays and randomly occurring packet losses. A novel sequence-based approach is proposed that extends a given controller designed without consideration of the network-induced disturbances. Its key idea is to model the unknown future control inputs by random variables, the so-called virtual control inputs, which are characterized by discrete probability density functions. Subject to this probabilistic description, the actual sequence of future control inputs is determined and transmitted to the actuator. The high performance of the proposed approach is demonstrated by means of Monte Carlo simulation runs with an inverted pendulum on a cart and by a detailed comparison to standard NCS approaches.}, author = {Achim Hekler and Jörg Fischer and Uwe D. Hanebeck}, journal = {arXiv preprint: Systems and Control (cs.SY)}, month = {June}, title = {Sequence-Based Control for Networked Control Systems Based on Virtual Control Inputs}, url = {http://arxiv.org/abs/1206.0549}, year = {2012} }  Yvonne Fischer, Marcus Baum, Fabian Flohr, Uwe D. Hanebeck, Jürgen Beyerer, Evaluation of Tracking Methods for Maritime Surveillance ,Signal Processing, Sensor Fusion, and Target Recognition XXI (Proceedings of SPIE), Baltimore, Maryland, USA, April, 2012. BibTeX: @inproceedings{SPIE12_FischerBaum, abstract = { In this article we present an evaluation of different target tracking methods based on various simulated scenarios in the maritime domain. We implemented well known algorithms (JIPDA, Linear Multi Target PDA, Linear Joint PDA, Monte Carlo Markov Chain Data Association) and integrated them into a data fusion architecture. The algorithms have been compared based on extensions of the Optimal Subpattern Assignment metric. Also further performance measures are used to get a single score for each algorithm. As no single algorithm is equally well fitted to all tested scenarios, our results show which algorithms fits best for specific scenarios.}, address = {Baltimore, Maryland, USA}, author = {Yvonne Fischer and Marcus Baum and Fabian Flohr and Uwe D. Hanebeck and Jürgen Beyerer}, booktitle = {Signal Processing, Sensor Fusion, and Target Recognition XXI (Proceedings of SPIE)}, doi = {10.1117/12.919234}, month = {April}, title = {Evaluation of Tracking Methods for Maritime Surveillance }, url = {http://dx.doi.org/10.1117/12.919234}, year = {2012} }  Marc Peter Deisenroth, Ryan Turner, Marco F. Huber, Uwe D. Hanebeck, Carl Edward Rasmussen, Robust Filtering and Smoothing with Gaussian Processes,arXiv preprint: Systems and Control (cs.SY), March, 2012. BibTeX: @article{arXiv12_Deisenroth, abstract = {We propose a principled algorithm for robust Bayesian filtering and smoothing in nonlinear stochastic dynamic systems when both the transition function and the measurement function are described by non-parametric Gaussian process (GP) models. GPs are gaining increasing importance in signal processing, machine learning, robotics, and control for representing unknown system functions by posterior probability distributions. This modern way of "system identification" is more robust than finding point estimates of a parametric function representation. In this article, we present a principled algorithm for robust analytic smoothing in GP dynamic systems, which are increasingly used in robotics and control. Our numerical evaluations demonstrate the robustness of the proposed approach in situations where other state-of-the-art Gaussian filters and smoothers can fail.}, author = {Marc Peter Deisenroth and Ryan Turner and Marco F. Huber and Uwe D. Hanebeck and Carl Edward Rasmussen}, journal = {arXiv preprint: Systems and Control (cs.SY)}, month = {March}, title = {Robust Filtering and Smoothing with Gaussian Processes}, url = {http://arxiv.org/abs/1203.4345}, year = {2012} }  Uwe D. Hanebeck, Jannik Steinbring, Progressive Gaussian Filtering,arXiv preprint: Systems and Control (cs.SY), March, 2012. BibTeX: @article{arXiv12_Hanebeck, abstract = {In this paper, we propose a progressive Bayesian procedure, where the measurement information is continuously included into the given prior estimate (although we perform observations at discrete time steps). The key idea is to derive a system of ordinary first-order differential equations (ODE) by employing a new coupled density representation comprising a Gaussian density and its Dirac Mixture approximation. The ODE is used for continuously tracking the true non-Gaussian posterior by its best matching Gaussian approximation. The performance of the new filter is evaluated in comparison with state-of-the-art filters by means of a canonical benchmark example, the discrete-time cubic sensor problem. }, author = {Uwe D. Hanebeck and Jannik Steinbring}, journal = {arXiv preprint: Systems and Control (cs.SY)}, month = {March}, title = {Progressive Gaussian Filtering}, url = {http://arxiv.org/abs/1204.0133}, year = {2012} }  Tobias Kretz, Antonia Pérez Arias, Simon Friedberger, Uwe D. Hanebeck, Using Extended Range Telepresence to Collect Data of Pedestrian Dynamics,Proceedings of the Transportation Research Board 91st Annual Meeting (TRB 2012), Washington D.C., USA, January, 2012. BibTeX: @inproceedings{TRB12_Kretz, abstract = {In this article a new way to collect data of pedestrian dynamics is introduced. A virtual reality system consisting of an extended range telepresence system and a microscopic pedestrian simulation is used to simplify data collection. The extended range telepresence system allows a user to move through a virtual environment by natural walking instead of by using conventional input devices, like a joystick. The telepresence system is connected to a pedestrian simulation which produces real time 3D animated output which is presented to the user with a head-mounted display (HMD) capable of showing 3D imagery. The simulated pedestrians react to the user of the telepresence as if it were another simulated pedestrian. With this system data about pedestrian dynamics can be collected in experiments in which not all participants need to be real people, but some - ideally all except for one - can be simulated. This allows the general collection of data about pedestrian dynamics but also to calibrate model specific parameters. In this paper three experiments are introduced. However, the focus of the contribution is to give an idea and an overview of the combined telepresence-simulation system as data collection tool.}, address = {Washington D.C., USA}, author = {Tobias Kretz and Antonia Pérez Arias and Simon Friedberger and Uwe D. Hanebeck}, booktitle = {Proceedings of the Transportation Research Board 91st Annual Meeting (TRB 2012)}, month = {January}, pdf = {TRB12_Kretz.pdf}, title = {Using Extended Range Telepresence to Collect Data of Pedestrian Dynamics}, year = {2012} }  2011 Marcus Baum, Benjamin Noack, Uwe D. Hanebeck, Random Hypersurface Mixture Models for Tracking Multiple Extended Objects,Proceedings of the 50th IEEE Conference on Decision and Control (CDC 2011), Orlando, Florida, USA, December, 2011. BibTeX: @inproceedings{CDC11_Baum, abstract = {This paper presents a novel method for tracking multiple extended objects. The shape of a single extended object is modeled with a recently developed approach called Random Hypersurface Model (RHM) that assumes a varying number of measurement sources to lie on scaled versions of the shape boundaries. This approach is extended by introducing a so-called Mixture Random Hypersurface Model (Mixture RHM), which allows for modeling multiple extended targets. Based on this model, a Gaussian-assumed Bayesian tracking method that provides the means to track and estimate shapes of multiple extended targets is derived. Simulations demonstrate the performance of the new approach.}, address = {Orlando, Florida, USA}, author = {Marcus Baum and Benjamin Noack and Uwe D. Hanebeck}, booktitle = {Proceedings of the 50th IEEE Conference on Decision and Control (CDC 2011)}, month = {December}, pdf = {CDC11_Baum.pdf}, title = {Random Hypersurface Mixture Models for Tracking Multiple Extended Objects}, year = {2011} }  Achim Hekler, Martin Kiefel, Uwe D. Hanebeck, Stochastic Nonlinear Model Predictive Control with Guaranteed Error Bounds Using Compactly Supported Wavelets,Proceedings of the 50th IEEE Conference on Decision and Control (CDC 2011), Orlando, Florida, USA, December, 2011. BibTeX: @inproceedings{CDC11_Hekler, abstract = {In model predictive control, a high quality of control can only be achieved, if the model of the system reflects the real-world process as precisely as possible. Therefore, the controller should be capable of both handling a nonlinear system description and systematically incorporating uncertainties affecting the system. Since stochastic nonlinear model predictive control (SNMPC) problems in general cannot be solved in closed form, either the system model or the occurring densities have to be approximated. In this paper, we present an SNMPC framework, which approximates the densities and the reward function by their wavelet expansions. Due to the few requirements on the shape and family of the densities or reward function, the presented technique can be applied to a large class of SNMPC problems. For accelerating the optimization, we additionally present a novel thresholding technique, the so-called dynamic thresholding, which neglects coefficients that are insignificant, while at the same time guaranteeing that the optimal control input is still chosen. The capabilities of the proposed approach are demonstrated by simulations with a path planning scenario.}, address = {Orlando, Florida, USA}, author = {Achim Hekler and Martin Kiefel and Uwe D. Hanebeck}, booktitle = {Proceedings of the 50th IEEE Conference on Decision and Control (CDC 2011)}, month = {December}, pdf = {CDC11_Hekler.pdf}, title = {Stochastic Nonlinear Model Predictive Control with Guaranteed Error Bounds Using Compactly Supported Wavelets}, year = {2011} }  Tobias Kretz, Stefan Hengst, Vidal Roca, Antonia Pérez Arias, Simon Friedberger, Uwe D. Hanebeck, Calibrating Dynamic Pedestrian Route Choice with an Extended Range Telepresence System,Proceedings of the first IEEE Workshop on Modeling, Simulation and Visual Analysis of Large Crowds in conjunction with the 13th International Conference on Computer Vision (ICCV 2011), Barcelona, Spain, November, 2011. BibTeX: @inproceedings{ICCV11_Kretz, abstract = {In this contribution we present the results of a pilot study in which an Extended Range Telepresence System is used to calibrate parameters of a pedestrian model for simulation. The parameters control a model element that is intended to make simulated agents walk in the direction of the esti- mated smallest remaining travel time. We use this to, first, show that that an Extended Range Telepresence System can serve for such a task in general and second to actually find simulation parameters that yield realistic results.}, address = {Barcelona, Spain}, author = {Tobias Kretz and Stefan Hengst and Vidal Roca and Antonia Pérez Arias and Simon Friedberger and Uwe D. Hanebeck}, booktitle = {Proceedings of the first IEEE Workshop on Modeling, Simulation and Visual Analysis of Large Crowds in conjunction with the 13th International Conference on Computer Vision (ICCV 2011)}, month = {November}, pdf = {ICCV11_Kretz.pdf}, title = {Calibrating Dynamic Pedestrian Route Choice with an Extended Range Telepresence System}, year = {2011} }  Tobias Kretz, Stefan Hengst, Antonia Pérez Arias and Simon Friedberger, Uwe D. Hanebeck, Using a Telepresence System to Investigate Route Choice Behavior,arXiv preprint: Human-Computer Interaction (cs.HC), November, 2011. BibTeX: @article{arXiv11_Kretz, abstract = {A combination of a telepresence system and a microscopic traffic simulator is introduced. It is evaluated using a hotel evacuation scenario. Four different kinds of supporting information are compared, standard exit signs, floor plans with indicated exit routes, guiding lines on the floor and simulated agents leading the way. The results indicate that guiding lines are the most efficient way to support an evacuation but the natural behavior of following others comes very close. On another level the results are consistent with previously performed real and virtual experiments and validate the use of a telepresence system in evacuation studies. It is shown that using a microscopic traffic simulator extends the possibilities for evaluation, e.g. by adding simulated humans to the environment.}, author = {Tobias Kretz and Stefan Hengst and Antonia Pérez Arias and Simon Friedberger and Uwe D. Hanebeck}, journal = {arXiv preprint: Human-Computer Interaction (cs.HC)}, month = {November}, title = {Using a Telepresence System to Investigate Route Choice Behavior}, url = {http://arxiv.org/abs/1111.1103}, year = {2011} }  Lukas Rybok, Simon Friedberger, Uwe D. Hanebeck, Rainer Stiefelhagen, The KIT Robo-Kitchen Data set for the Evaluation of View-based Activity Recognition Systems,Proceedings of the 2011 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2011), Bled, Slovenia, October, 2011. BibTeX: @inproceedings{Humanoids11_Rybok, abstract = {Human action and activity recognition from videos has attracted an increasing number of researchers in recent years. However, most of the works aim at multimedia retrieval and surveillance applications, but rarely at humanoid household robots, even though the robotic perception of human activities would allow a more natural human-robot interaction (HRI). To encourage future studies in this domain, we present in this work a novel data set specifically designed for the application in HRI scenarios. This Robo-kitchen data set consists of 14 typical kitchen activities recorded in two different stereo-camera setups, and each performed by 17 subjects. To establish a baseline for future work, we extend a state-of-the-art action recognition method to be applicable on the activity classification problem and evaluate it on the Robo-kitchen data set showing promising results.}, address = {Bled, Slovenia}, author = {Lukas Rybok and Simon Friedberger and Uwe D. Hanebeck and Rainer Stiefelhagen}, booktitle = {Proceedings of the 2011 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2011)}, month = {October}, pdf = {Humanoids11_Rybok.pdf}, title = {The KIT Robo-Kitchen Data set for the Evaluation of View-based Activity Recognition Systems}, year = {2011} }  Marco Huber, Peter Krauthausen, Uwe D. Hanebeck, Superficial Gaussian Mixture Reduction,Proceedings of the IEEE ISIF Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF 2011), Berlin, Germany, October, 2011. BibTeX: @inproceedings{SDF11_Huber, abstract = {Many information fusion tasks involve the processing of Gaussian mixtures with simple underlying shape, but many components. This paper addresses the problem of reducing the number of components, allowing for faster density processing. The proposed approach is based on identifying components irrelevant for the overall density's shape by means of the curvature of the density's surface. The key idea is to minimize an upper bound of the curvature while maintaining a low global reduction error by optimizing the weights of the original Gaussian mixture only. The mixture is reduced by assigning zero weights to reducible components. The main advantages are an alleviation of the model selection problem, as the number of components is chosen by the algorithm automatically, the derivation of simple curvature-based penalty terms, and an easy, efficient implementation. A series of experiments shows the approach to provide a good trade-off between quality and sparsity.}, address = {Berlin, Germany}, author = {Marco Huber and Peter Krauthausen and Uwe D. Hanebeck}, booktitle = {Proceedings of the IEEE ISIF Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF 2011)}, month = {October}, pdf = {SDF11_Huber.pdf}, title = {Superficial Gaussian Mixture Reduction}, year = {2011} }  Marcus Baum, Uwe D. Hanebeck, Fitting Conics to Noisy Data Using Stochastic Linearization,Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, California, USA, September, 2011. BibTeX: @inproceedings{IROS11_Baum, abstract = {Fitting conic sections, e.g., ellipses or circles, to noisy data points is a fundamental sensor data processing problem, which frequently arises in robotics. In this paper, we introduce a new procedure for deriving a recursive Gaussian state estimator for fitting conics to data corrupted by additive Gaussian noise. For this purpose, the original exact implicit measurement equation is reformulated with the help of suitable approximations as an explicit measurement equation corrupted by multiplicative noise. Based on stochastic linearization, an efficient Gaussian state estimator is derived for the explicit measurement equation. The performance of the new approach is evaluated by means of a typical ellipse fitting scenario.}, address = {San Francisco, California, USA}, author = {Marcus Baum and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)}, month = {September}, pdf = {IROS11_Baum.pdf}, title = {Fitting Conics to Noisy Data Using Stochastic Linearization}, year = {2011} }  Dirk Gehrig, Peter Krauthausen, Lukas Rybok, Hildegard Kühne, Tanja Schultz, Uwe D. Hanebeck, Rainer Stiefelhagen, Combined Intention, Activity, and Motion Recognition for a Humanoid Household Robot,Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, California, USA, September, 2011. BibTeX: @inproceedings{IROS11_Gehrig, abstract = {In this paper, a multi-level approach to intention, activity, and motion recognition for a humanoid robot is proposed. Our system processes images from a monocular camera and combines this information with domain knowledge. The recognition works on-line and in real-time, it is independent of the test person, but limited to predefined view-points. Main contributions of this paper are the extensible, multi-level modeling of the robot's vision system, the efficient activity and motion recognition, and the asynchronous information fusion based on generic processing of mid-level recognition results. The complementarity of the activity and motion recognition renders the approach robust against misclassifications. Experimental results on a real-world data set of complex kitchen tasks, e.g., Prepare Cereals or Lay Table, prove the performance and robustness of the multi-level recognition approach.}, address = {San Francisco, California, USA}, author = {Dirk Gehrig and Peter Krauthausen and Lukas Rybok and Hildegard Kühne and Tanja Schultz and Uwe D. Hanebeck and Rainer Stiefelhagen}, booktitle = {Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)}, month = {September}, pdf = {IROS11_Gehrig.pdf}, title = {Combined Intention, Activity, and Motion Recognition for a Humanoid Household Robot}, year = {2011} }  Antonia Pérez Arias, Uwe D. Hanebeck, Motion Control of a Semi-mobile Haptic Interface for Extended Range Telepresence,Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, California, USA, September, 2011. BibTeX: @inproceedings{IROS11_Perez, abstract = {This paper presents the control concept of a semimobile haptic interface for extended range telepresence that enables the user to explore spatially unrestricted target environments even from a small user environment. The semi-mobile haptic interface consists of a haptic manipulator mounted on a large grounded Cartesian robot, the prepositioning unit. The prepositioning unit is controlled in such a way that the haptic manipulator is kept off its workspace limits. At the same time, the control algorithm allows the optimal utilization of the available space in the user environment and guarantees the safety of the user. The proposed control method is based on the position and velocity of the end-effector and also takes the position of the user into account. Moreover, it is robust against noisy measurements of the user position or outliers due, for example, to occlusions in the tracking system. Experimental results show the suitability of the proposed control to provide haptic interaction in extended range telepresence.}, address = {San Francisco, California, USA}, author = {Antonia Pérez Arias and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)}, month = {September}, pdf = {IROS11_Perez.pdf}, title = {Motion Control of a Semi-mobile Haptic Interface for Extended Range Telepresence}, year = {2011} }  Tobias Kretz, Stefan Hengst, Antonia Pérez Arias, Simon Friedberger, Uwe D. Hanebeck, Using Extended Range Telepresence to Investigate Route Choice Behavior,Proceedings of the Traffic and Granular Flow Conference 2011 (TGF 2011), Moscow, Russia, September, 2011. BibTeX: @inproceedings{TGF11_Kretz, abstract = {A combination of a telepresence system and a microscopic traffic simulator is introduced. It is evaluated using a hotel evacuation scenario. Four different kinds of supporting information are compared, standard exit signs, floor plans with indicated exit routes, guiding lines on the floor and simulated agents leading the way. The results indicate that guiding lines are the most efficient way to support an evacuation but the natural behavior of following others comes very close. On another level the results are consistent with previously performed real and virtual experiments and validate the use of a telepresence system in evacuation studies. It is shown that using a microscopic traffic simulator extends the possibilities for evaluation, e.g. by adding simulated humans to the environment.}, address = {Moscow, Russia}, author = {Tobias Kretz and Stefan Hengst and Antonia Pérez Arias and Simon Friedberger and Uwe D. Hanebeck}, booktitle = {Proceedings of the Traffic and Granular Flow Conference 2011 (TGF 2011)}, month = {September}, pdf = {TGF11_Kretz.pdf}, title = {Using Extended Range Telepresence to Investigate Route Choice Behavior}, year = {2011} }  Marco F. Huber, Frederik Beutler, Uwe D. Hanebeck, (Semi-)Analytic Gaussian Mixture Filter,Proceedings of the 18th IFAC World Congress (IFAC 2011), Milan, Italy, August, 2011. BibTeX: @inproceedings{IFAC11_Huber, abstract = {In nonlinear filtering, special types of Gaussian mixture filters are a straightforward extension of Gaussian filters, where linearizing the system model is performed individually for each Gaussian component. In this paper, two novel types of linearization are combined with Gaussian mixture filters. The first linearization is called analytic stochastic linearization, where the linearization is performed analytically and exactly, i.e., without Taylor-series expansion or approximate sample-based density representation. In cases where a full analytical linearization is not possible, the second approach decomposes the nonlinear system into a set of nonlinear subsystems that are conditionally integrable in closed form. These approaches are more accurate than fully applying classical linearization. }, address = {Milan, Italy}, author = {Marco F. Huber and Frederik Beutler and Uwe D. Hanebeck}, booktitle = {Proceedings of the 18th IFAC World Congress (IFAC 2011)}, month = {August}, pdf = {IFAC11_Huber.pdf}, title = {(Semi-)Analytic Gaussian Mixture Filter}, year = {2011} }  Benjamin Noack, Marcus Baum, Uwe D. Hanebeck, Automatic Exploitation of Independencies for Covariance Bounding in Fully Decentralized Estimation,Proceedings of the 18th IFAC World Congress (IFAC 2011), Milan, Italy, August, 2011. BibTeX: @inproceedings{IFAC11_Noack, abstract = {Especially in the field of sensor networks and multi-robot systems, fully decentralized estimation techniques are of particular interest. As the required elimination of the complex dependencies between estimates generally yields inconsistent results, several approaches, e.g., covariance intersection, maintain consistency by providing conservative estimates. Unfortunately, these estimates are often too conservative and therefore, much less informative than a corresponding centralized approach. In this paper, we provide a concept that conservatively decorrelates the estimates while bounding the unknown correlations as closely as possible. For this purpose, known independent quantities, such as measurement noise, are explicitly identified and exploited. Based on tight covariance bounds, the new approach allows for an intuitive and systematic derivation of appropriate tailor-made filter equations and does not require heuristics. Its performance is demonstrated in a comparative study within a typical SLAM scenario.}, address = {Milan, Italy}, author = {Benjamin Noack and Marcus Baum and Uwe D. Hanebeck}, booktitle = {Proceedings of the 18th IFAC World Congress (IFAC 2011)}, month = {August}, pdf = {IFAC11_Noack.pdf}, title = {Automatic Exploitation of Independencies for Covariance Bounding in Fully Decentralized Estimation}, year = {2011} }  Marcus Baum, Uwe D. Hanebeck, Shape Tracking of Extended Objects and Group Targets with Star-Convex RHMs,Proceedings of the 14th International Conference on Information Fusion (Fusion 2011), Chicago, Illinois, USA, July, 2011. Winner Best Student Paper Award Certificate (PDF) BibTeX: @inproceedings{Fusion11_Baum-RHM, abstract = {This paper is about tracking an extended object or a group target, which gives rise to a varying number of measurements from different measurement sources. For this purpose, the shape of the target is tracked in addition to its kinematics. The target extent is modeled with a new approach called Random Hypersurface Model (RHM) that assumes varying measurement sources to lie on scaled versions of the shape boundaries. In this paper, a star-convex RHM is introduced for tracking star-convex shape approximations of targets. Bayesian inference for star-convex RHM is performed by means of a Gaussian-assumed state estimator allowing for an efficient recursive closed-form measurement update. Simulations demonstrate the performance of this approach for typical extended object and group tracking scenarios.}, address = {Chicago, Illinois, USA}, annote = {Winner Best Student Paper Award Certificate (PDF)}, author = {Marcus Baum and Uwe D. Hanebeck}, booktitle = {Proceedings of the 14th International Conference on Information Fusion (Fusion 2011)}, month = {July}, pdf = {Fusion11_Baum-RHM.pdf}, title = {Shape Tracking of Extended Objects and Group Targets with Star-Convex RHMs}, year = {2011} }  Marcus Baum, Uwe D. Hanebeck, Using Symmetric State Transformations for Multi-Target Tracking,Proceedings of the 14th International Conference on Information Fusion (Fusion 2011), Chicago, Illinois, USA, July, 2011. BibTeX: @inproceedings{Fusion11_Baum-USF, abstract = {This paper is about the use of symmetric state transformations for multi-target tracking. First, a novel method for obtaining point estimates for multi-target states is proposed. The basic idea is to apply a symmetric state transformation to the original state in order to compute a minimum mean-square-error (MMSE) estimate in a transformed state. By this means, the known shortcomings of MMSE estimates for multi-target states can be avoided. Second, a new multi-target tracking method based on state transformations is suggested, which entirely performs the time and measurement update in a transformed space and thus, avoids the explicit calculation of data association hypotheses and removes the target identity from the estimation problem. The performance of the new approach is evaluated by means of tracking two crossing targets.}, address = {Chicago, Illinois, USA}, author = {Marcus Baum and Uwe D. Hanebeck}, booktitle = {Proceedings of the 14th International Conference on Information Fusion (Fusion 2011)}, month = {July}, pdf = {Fusion11_Baum-USF.pdf}, title = {Using Symmetric State Transformations for Multi-Target Tracking}, year = {2011} }  Marcus Baum, Benjamin Noack, Frederik Beutler, Dominik Itte, Uwe D. Hanebeck, Optimal Gaussian Filtering for Polynomial Systems Applied to Association-free Multi-Target Tracking,Proceedings of the 14th International Conference on Information Fusion (Fusion 2011), Chicago, Illinois, USA, July, 2011. BibTeX: @inproceedings{Fusion11_Baum, abstract = {This paper is about tracking multiple targets with the so-called Symmetric Measurement Equation (SME) filter. The SME filter uses symmetric functions, e.g., symmetric polynomials, in order to remove the data association uncertainty from the measurement equation. By this means, the data association problem is converted to a nonlinear state estimation problem. In this work, an efficient optimal Gaussian filter based on analytic moment calculation for discrete-time multi-dimensional polynomial systems corrupted with Gaussian noise is derived, and then applied to the polynomial system resulting from the SME filter. The performance of the new method is compared to an UKF implementation by means of typical multiple target tracking scenarios.}, address = {Chicago, Illinois, USA}, author = {Marcus Baum and Benjamin Noack and Frederik Beutler and Dominik Itte and Uwe D. Hanebeck}, booktitle = {Proceedings of the 14th International Conference on Information Fusion (Fusion 2011)}, month = {July}, pdf = {Fusion11_Baum.pdf}, title = {Optimal Gaussian Filtering for Polynomial Systems Applied to Association-free Multi-Target Tracking}, year = {2011} }  Evgeniya Bogatyrenko, Uwe D. Hanebeck, Adaptive Model-Based Visual Stabilization of Image Sequences Using Feedback,Proceedings of the 14th International Conference on Information Fusion (Fusion 2011), Chicago, Illinois, USA, July, 2011. BibTeX: @inproceedings{Fusion11_Bogatyrenko, abstract = {Visual stabilization proposed in this paper compensates changes of the scene caused by motion and deformation of an observed object. This is of high importance in computer-assisted beating heart surgery, where the views of the beating heart should be stabilized. The proposed model-based method defines visual stabilization as a transformation of the current image sequence to a stabilized image sequence. This transformation incorporates physical model of the observed object and model of the measurement process. In contrast to standard approaches, the quality of the visual stabilization is continuously evaluated and improved in two aspects. On the one hand, discretization errors are reduced. On the other hand, the parameters of the underlying models are adjusted. The performance of the proposed method is evaluated in an experiment with a pressure-regulated artificial heart. Compared with standard methods, the model-based method provides higher accuracy, which is additionally improved by a feedback mechanism.}, address = {Chicago, Illinois, USA}, author = {Evgeniya Bogatyrenko and Uwe D. Hanebeck}, booktitle = {Proceedings of the 14th International Conference on Information Fusion (Fusion 2011)}, month = {July}, pdf = {Fusion11_Bogatyrenko.pdf}, title = {Adaptive Model-Based Visual Stabilization of Image Sequences Using Feedback}, year = {2011} }  Peter Krauthausen, Patrick Ruoff, Uwe D. Hanebeck, Sparse Mixture Conditional Density Estimation by Superficial Regularization,Proceedings of the 14th International Conference on Information Fusion (Fusion 2011), Chicago, Illinois, USA, July, 2011. BibTeX: @inproceedings{Fusion11_Krauthausen, abstract = {In this paper, the estimation of conditional densities between continuous random variables from noisy samples is considered. The conditional densities are modeled as heteroscedastic Gaussian mixture densities allowing for closed-form solution of Bayesian inference with full-densities. The main contributions of this paper are an improved generalization quality of the estimates by the introduction of a superficial regularizer, the consideration of model uncertainty relative to local data densities by means of adaptive covariances, and the proposition of an efficient distance-based estimation algorithm. This algorithm corresponds to an iterative nested optimization scheme, optimizing hyper-parameters, component placement, and mixture weights. The obtained solutions are sparse, smooth, and generalize well as benchmark experiments, e.g., in nonlinear filtering show.}, address = {Chicago, Illinois, USA}, author = {Peter Krauthausen and Patrick Ruoff and Uwe D. Hanebeck}, booktitle = {Proceedings of the 14th International Conference on Information Fusion (Fusion 2011)}, month = {July}, pdf = {Fusion11_Krauthausen.pdf}, title = {Sparse Mixture Conditional Density Estimation by Superficial Regularization}, year = {2011} }  Benjamin Noack, Marcus Baum, Uwe D. Hanebeck, Covariance Intersection in Nonlinear Estimation Based on Pseudo Gaussian Densities,Proceedings of the 14th International Conference on Information Fusion (Fusion 2011), Chicago, Illinois, USA, July, 2011. BibTeX: @inproceedings{Fusion11_Noack, abstract = {Many modern fusion architectures are designed to process and fuse data in networked systems. Alongside the advantages, such as scalability and robustness, distributed fusion techniques particularly have to tackle the problem of dependencies between locally processed data. In linear estimation problems, uncertain quantities with unknown cross-correlations can be fused by means of the covariance intersection algorithm, which avoids overconfident fusion results. However, for nonlinear system dynamics and sensor models perturbed by arbitrary noise, it is not only a problem to characterize and parameterize dependencies between estimates, but also to find a proper notion of consistency. This paper addresses these issues by transforming the state estimates to a different state space, where the corresponding densities are Gaussian and only linear dependencies between estimates, i.e., correlations, can arise. These pseudo Gaussian densities then allow the notion of covariance consistency to be used in distributed nonlinear state estimation.}, address = {Chicago, Illinois, USA}, author = {Benjamin Noack and Marcus Baum and Uwe D. Hanebeck}, booktitle = {Proceedings of the 14th International Conference on Information Fusion (Fusion 2011)}, month = {July}, pdf = {Fusion11_Noack.pdf}, title = {Covariance Intersection in Nonlinear Estimation Based on Pseudo Gaussian Densities}, year = {2011} }  Marc Reinhardt, Benjamin Noack, Marcus Baum, Uwe D. Hanebeck, Analysis of Set-theoretic and Stochastic Models for Fusion under Unknown Correlations,Proceedings of the 14th International Conference on Information Fusion (Fusion 2011), Chicago, Illinois, USA, July, 2011. BibTeX: @inproceedings{Fusion11_Reinhardt, abstract = {In data fusion theory, multiple estimates are combined to yield an optimal result. In this paper, the set of all possible results is investigated, when two random variables with unknown correlations are fused. As a first step, recursive processing of the set of estimates is examined. Besides set-theoretic considerations, the lack of knowledge about the unknown correlation coefficient is modeled as a stochastic quantity. Especially, a uniform model is analyzed, which provides a new optimization criterion for the covariance intersection algorithm in scalar state spaces. This approach is also generalized to multi-dimensional state spaces in an approximative, but fast and scalable way, so that consistent estimates are obtained.}, address = {Chicago, Illinois, USA}, author = {Marc Reinhardt and Benjamin Noack and Marcus Baum and Uwe D. Hanebeck}, booktitle = {Proceedings of the 14th International Conference on Information Fusion (Fusion 2011)}, month = {July}, pdf = {Fusion11_Reinhardt.pdf}, title = {Analysis of Set-theoretic and Stochastic Models for Fusion under Unknown Correlations}, year = {2011} }  Patrick Ruoff, Peter Krauthausen, Uwe D. Hanebeck, Progressive Correction for Deterministic Dirac Mixture Approximations,Proceedings of the 14th International Conference on Information Fusion (Fusion 2011), Chicago, Illinois, USA, July, 2011. BibTeX: @inproceedings{Fusion11_Ruoff, abstract = {Since the advent of Monte-Carlo particle filtering, particle representations of densities have become increasingly popular due to their flexibility and implicit adaptive resolution. In this paper, an algorithm for the multiplication of a systematic Dirac mixture (DM) approximation with a continuous likelihood function is presented, which applies a progressive correction scheme, in order to avoid the particle degeneration problem. The preservation of sample regularity and therefore, representation quality of the underlying smooth density, is ensured by including a new measure of smoothness for Dirac mixtures, the DM energy, into the distance measure. A comparison to common correction schemes in Monte-Carlo methods reveals large improvements especially in cases of small overlap between the likelihood and prior density, as well as for multi-modal likelihoods.}, address = {Chicago, Illinois, USA}, author = {Patrick Ruoff and Peter Krauthausen and Uwe D. Hanebeck}, booktitle = {Proceedings of the 14th International Conference on Information Fusion (Fusion 2011)}, month = {July}, pdf = {Fusion11_Ruoff.pdf}, title = {Progressive Correction for Deterministic Dirac Mixture Approximations}, year = {2011} }  Evgeniya Bogatyrenko, Uwe D. Hanebeck, Visual Stabilization of Beating Heart Motion by Model-based Transformation of Image Sequences,Proceedings of the 2011 American Control Conference (ACC 2011), San Francisco, California, USA, June, 2011. BibTeX: @inproceedings{ACC11_Bogatyrenko, abstract = {In order to assist a surgeon by operating on a beating heart, visual stabilization makes the beating heart appear still to a surgeon by providing the current heart view as stationary and non-moving. In this way, the surgeon is not disturbed during an operation by a motion of the heart and can get an impression of performing conventional surgery. In contrast to existing methods for visual stabilization, the proposed approach involves a model-based transformation of image sequences provided by a camera system. This transformation incorporates the knowledge of physical characteristics of the heart in form of a mathematical model of the heart surface. Its main advantage is that the uncertainties of the model and measurements are considered. This occurs by estimating the parameters of the transformation. Furthermore, the quality of the visual stabilization is additionally improved by adapting the parameters of the underlying physical model. A performance of the proposed approach is evaluated in an experiment with a pressure-regulated artificial heart. In comparison to standard approaches, it provides superior results illustrating the high quality of the visual stabilization.}, address = {San Francisco, California, USA}, author = {Evgeniya Bogatyrenko and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2011 American Control Conference (ACC 2011)}, month = {June}, pdf = {ACC11_Bogatyrenko.pdf}, title = {Visual Stabilization of Beating Heart Motion by Model-based Transformation of Image Sequences}, year = {2011} }  Marco F. Huber, Frederik Beutler, Uwe D. Hanebeck, Semi-Analytic Gaussian Assumed Density Filter,Proceedings of the 2011 American Control Conference (ACC 2011), San Francisco, California, USA, June, 2011. BibTeX: @inproceedings{ACC11_Huber, abstract = {For Gaussian Assumed Density Filtering based on moment matching, a framework for the efficient calculation of posterior moments is proposed that exploits the structure of the given nonlinear system. The key idea is a careful discretization of some dimensions of the state space only in order to decompose the system into a set of nonlinear subsystems that are conditionally integrable in closed form. This approach is more efficient than full discretization approaches. In addition, the new decomposition is far more general than known Rao-Blackwellization approaches relying on conditionally linear subsystems. As a result, the new framework is applicable to a much larger class of nonlinear systems.}, address = {San Francisco, California, USA}, author = {Marco F. Huber and Frederik Beutler and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2011 American Control Conference (ACC 2011)}, month = {June}, pdf = {ACC11_Huber.pdf}, title = {Semi-Analytic Gaussian Assumed Density Filter}, year = {2011} }  Peter Krauthausen, Masoud Roschani, Uwe D. Hanebeck, Incorporating Prior Knowledge into Nonparametric Conditional Density Estimation,Proceedings of the 2011 American Control Conference (ACC 2011), San Francisco, California, USA, June, 2011. BibTeX: @inproceedings{ACC11_Krauthausen, abstract = {In this paper, the problem of sparse nonparametric conditional density estimation based on samples and prior knowledge is addressed. The prior knowledge may be restricted to parts of the state space and given as generative models in form of mean-function constraints or as probabilistic models in the form of Gaussian mixtures. The key idea is the introduction of additional constraints and a modified kernel function into the conditional density estimation problem. This approach to using prior knowledge is a generic solution applicable to all nonparametric conditional density estimation approaches phrased as constrained optimization problems. The quality of the estimates, their sparseness, and the achievable improvements by using prior knowledge are shown in experiments for both Support-Vector Machine-based and integral distance-based conditional density estimation.}, address = {San Francisco, California, USA}, author = {Peter Krauthausen and Masoud Roschani and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2011 American Control Conference (ACC 2011)}, month = {June}, pdf = {ACC11_Krauthausen.pdf}, title = {Incorporating Prior Knowledge into Nonparametric Conditional Density Estimation}, year = {2011} }  Benjamin Noack, Daniel Lyons, Matthias Nagel, Uwe D. Hanebeck, Nonlinear Information Filtering for Distributed Multisensor Data Fusion,Proceedings of the 2011 American Control Conference (ACC 2011), San Francisco, California, USA, June, 2011. BibTeX: @inproceedings{ACC11_Noack, abstract = {The information filter has evolved into a key tool for distributed and decentralized multisensor estimation and control. Essentially, it is an algebraical reformulation of the Kalman filter and provides estimates on the information about an uncertain state rather than on a state itself. Whereas many practicable Kalman filtering techniques for nonlinear system and sensor models have been developed, approaches towards nonlinear information filtering are still scarce and limited. In order to deal with nonlinear systems and sensors, this paper derives an approximation technique for arbitrary probability densities that provides the same distributable fusion structure as the linear information filter. The presented approach not only constitutes a nonlinear version of the information filter, but it also points the direction to a Hilbert space structure on probability densities, whose vector space operations correspond to the fusion and weighting of information.}, address = {San Francisco, California, USA}, author = {Benjamin Noack and Daniel Lyons and Matthias Nagel and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2011 American Control Conference (ACC 2011)}, month = {June}, pdf = {ACC11_Noack.pdf}, title = {Nonlinear Information Filtering for Distributed Multisensor Data Fusion}, year = {2011} }  Antonia Pérez Arias, Henning P. Eberhardt, Florian Pfaff, Uwe D. Hanebeck, The Plenhaptic Guidance Function for Intuitive Navigation in Extended Range Telepresence Scenarios,Proceedings of the IEEE World Haptics Conference (WHC 2011), Istanbul, Turkey, June, 2011. BibTeX: @inproceedings{WHC11_Perez, abstract = {In this work, we propose a plenhaptic guidance function that systematically describes the haptic information for guiding the user in the target environment. The plenhaptic guidance function defines the strength of the guidance at any position in space, at any direction, and at any time, and takes the geometry of the target environment as well as all possible goals into account. The plenhaptic guidance function, which can be rendered as active and passive guidance, is sampled and displayed to the user through a haptic interface in the user environment. The benefits of the plenhaptic guidance function for guiding the user to several simultaneous goals while avoiding the obstacles in a large target environment are demonstrated in real experiments.}, address = {Istanbul, Turkey}, author = {Antonia Pérez Arias and Henning P. Eberhardt and Florian Pfaff and Uwe D. Hanebeck}, booktitle = {Proceedings of the IEEE World Haptics Conference (WHC 2011)}, month = {June}, pdf = {WHC11_Perez.pdf}, title = {The Plenhaptic Guidance Function for Intuitive Navigation in Extended Range Telepresence Scenarios}, year = {2011} }  Jan-P. Calliess, Daniel Lyons, Uwe D. Hanebeck, Lazy auctions for multi-robot collision avoidance and motion control under uncertainty,Autonomous Robots and Multirobot Systems (ARMS) Workshop at AAMAS 2011, Taipei, Taiwan, May, 2011. BibTeX: @inproceedings{ARMS_AAMAS11_Lyons, abstract = {We present an auction-flavored multi-robot planning mechanism where coordination is to be achieved on the occupation of atomic resources modeled as binary inter-robot constraints. Introducing virtual obstacles, we show how this approach can be combined with particlebased obstacle avoidance methods, offering a decentralized, auction-based alternative to previously established centralized approaches for multirobot open-loop control. We illustrate the effectiveness of our new approach by presenting simulations of typical spatially-continuous multirobot path-planning problems and derive bounds on the collision probability in the presence of uncertainty.}, address = {Taipei, Taiwan}, author = {Jan-P. Calliess and Daniel Lyons and Uwe D. Hanebeck}, booktitle = {Autonomous Robots and Multirobot Systems (ARMS) Workshop at AAMAS 2011}, month = {May}, pdf = {ARMS11_CalliessLyons.pdf}, title = {Lazy auctions for multi-robot collision avoidance and motion control under uncertainty}, year = {2011} }  Daniel Lyons, Jan-P. Calliess, Uwe D. Hanebeck, Chance-constrained Model Predictive Control for Multi-Agent Systems,arXiv preprint: Systems and Control (cs.SY), April, 2011. BibTeX: @article{arXiv11_Lyons, abstract = {We consider stochastic model predictive control of a multi-agent systems with constraints on the probabilities of inter-agent collisions. We first study a sample-based approximation of the collision probabilities and use this approximation to formulate constraints for the stochastic control problem. This approximation will converge as the number of samples goes to infinity, however, the complexity of the resulting control problem is so high that this approach proves unsuitable for control under real-time requirements. To alleviate the computational burden we propose a second approach that uses probabilistic bounds to determine regions with increased probability of presence for each agent and formulate constraints for the control problem that guarantee that these regions will not overlap. We prove that the resulting problem is conservative for the original problem with probabilistic constraints, ie. every control strategy that is feasible under our new constraints will automatically be feasible for the original problem. Furthermore we show in simulations in a UAV path planning scenario that our proposed approach grants significantly better run-time performance compared to a controller with the sample-based approximation with only a small degree of sub-optimality resulting from the conservativeness of our new approach}, author = {Daniel Lyons and Jan-P. Calliess and Uwe D. Hanebeck}, ee = {http://arxiv.org/abs/1104.5384}, journal = {arXiv preprint: Systems and Control (cs.SY)}, month = {April}, title = {Chance-constrained Model Predictive Control for Multi-Agent Systems}, url = {http://arxiv.org/abs/1104.5384}, year = {2011} }  Johannes Schmid, Frederik Beutler, Benjamin Noack, Uwe D. Hanebeck, Klaus D. Müller-Glaser, An Experimental Evaluation of Position Estimation Methods for Person Localization in Wireless Sensor Networks,Proceedings of the 8th European Conference on Wireless Sensor Networks (EWSN 2011), 6567:147–162, Springer, Bonn, Germany, February, 2011. BibTeX: @inproceedings{EWSN11_Schmid, abstract = {In this paper, the localization of persons by means of a Wireless Sensor Network (WSN) is considered. Persons carry on-body sensor nodes and move within a WSN. The location of each person is calculated on this node and communicated through the network to a central data sink for visualization. Applications of such a system could be found in mass casualty events, firefighter scenarios, hospitals or retirement homes for example. For the location estimation on the sensor node, three derivatives of the Kalman Filter and a closed-form solution (CFS) are applied, compared, and evaluated in a real-world scenario. A prototype 65-node ZigBee WSN is implemented and data are collected in in- and outdoor environments with differently positioned on-body nodes. The described estimators are then evaluated off-line on the experimentally collected data. The goal of this paper is to present a comprehensive real-world evaluation of methods for person localization in a WSN based on received signal strength (RSS) range measurements. It is concluded that person localization in in- and outdoor environments is possible under the considered conditions with the considered filters. The compared methods allow for suffciently accurate localization results and are robust against inaccurate range measurements.}, address = {Bonn, Germany}, author = {Johannes Schmid and Frederik Beutler and Benjamin Noack and Uwe D. Hanebeck and Klaus D. Müller-Glaser}, booktitle = {Proceedings of the 8th European Conference on Wireless Sensor Networks (EWSN 2011)}, doi = {10.1007/978-3-642-19186-2_10}, editor = {Pedro José Marrón and Kamin Whitehouse}, month = {February}, pages = {147--162}, pdf = {EWSN11_Schmid.pdf}, publisher = {Springer}, title = {An Experimental Evaluation of Position Estimation Methods for Person Localization in Wireless Sensor Networks}, url = {http://dx.doi.org/10.1007/978-3-642-19186-2_10}, volume = {6567}, year = {2011} }  2010 Achim Hekler, Martin Kiefel, Uwe D. Hanebeck, Nonlinear Bayesian Estimation with Compactly Supported Wavelets,Proceedings of the 2010 IEEE Conference on Decision and Control (CDC 2010), Atlanta, Georgia, USA, December, 2010. BibTeX: @inproceedings{CDC10_Hekler, abstract = {Bayesian estimation for nonlinear systems is still a challenging problem, as in general the type of the true probability density changes and the complexity increases over time. Hence, approximations of the occurring equations and/or of the underlying probability density functions are inevitable. In this paper, we propose an approximation of the conditional densities by wavelet expansions. This kind of representation allows a sparse set of characterizing coefficients, especially for smooth or piecewise smooth density functions. Besides its good approximation properties, fast algorithms operating on sparse vectors are applicable and thus, a good trade-off between approximation quality and run-time can be achieved. Moreover, due to its highly generic nature, it can be applied to a large class of nonlinear systems with a high modeling accuracy. In particular, the noise acting upon the system can be modeled by an arbitrary probability distribution and can influence the system in any way.}, address = {Atlanta, Georgia, USA}, author = {Achim Hekler and Martin Kiefel and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2010 IEEE Conference on Decision and Control (CDC 2010)}, month = {December}, pdf = {CDC10_HeklerKiefel.pdf}, title = {Nonlinear Bayesian Estimation with Compactly Supported Wavelets}, year = {2010} }  Benjamin Noack, Vesa Klumpp, Daniel Lyons, Uwe D. Hanebeck, Modellierung von Unsicherheiten und Zustandsschätzung mit Mengen von Wahrscheinlichkeitsdichten,tm - Technisches Messen, Oldenbourg Verlag, 77(10):544–550, October, 2010. BibTeX: @article{TM10_Noack, abstract = {Die systematische Behandlung von Unsicherheiten stellt eine wesentliche Herausforderung in der Informationsfusion dar. Einerseits müssen geeignete Darstellungsformen für die Unsicherheiten bestimmt werden und andererseits darauf aufbauend effiziente Schätzverfahren hergeleitet werden. Im Allgemeinen wird zwischen stochastischen und mengenbasierten Unsicherheitsbeschreibungen unterschieden. Dieser Beitrag stellt ein Verfahren zur Zustandsschätzung vor, welches simultan stochastische und mengenbasierte Fehlergrößen berücksichtigen kann, indem unsichere Größen nicht mehr durch eine einzelne Wahrscheinlichkeitsdichte, sondern durch eine Menge von Dichten repräsentiert werden. Besonderes Augenmerk liegt hier auf den Vorteilen und Anwendungsmöglichkeiten dieser Unsicherheitsbeschreibung.}, author = {Benjamin Noack and Vesa Klumpp and Daniel Lyons and Uwe D. Hanebeck}, doi = {10.1524/teme.2010.0087}, editor = {Klaus-Dieter Sommer and Fernando Puente León and Michael Heizmann}, journal = {tm - Technisches Messen, Oldenbourg Verlag}, month = {October}, number = {10}, pages = {544--550}, pdf = {TM10_Noack.pdf}, title = {Modellierung von Unsicherheiten und Zustandsschätzung mit Mengen von Wahrscheinlichkeitsdichten}, url = {http://dx.doi.org/10.1524/teme.2010.0087}, volume = {77}, year = {2010} }  Achim Kuwertz, Marco F. Huber, Felix Sawo, Uwe D. Hanebeck, Modellbasierte Quellenverfolgung in räumlich ausgedehnten Phänomenen mittels Sensoreinsatzplanung,tm - Technisches Messen, Oldenbourg Verlag, 77(10):551–557, October, 2010. BibTeX: @article{TM10_Kuwertz, abstract = {Bewegte Quellen können durch Emission räumlich ausgedehnte Phänomene wie beispielsweise Schadstoff- oder Temperaturverteilungen erzeugen. Zur Lokalisierung von Quellen mit unbekannter Position stehen in vielen Aufgabenstellungen Informationen nur indirekt durch die verteilte Vermessung des induzierten Phänomens zur Verfügung - etwa unter Verwendung stationärer oder mobiler Sensoren. Dieser Beitrag stellt modellbasierte Verfahren für eine echtzeitfähige Lokalisierung und Verfolgung von bewegten Quellen vor. Zur gezielten Maximierung des Informationsgehalts der Messungen wird dabei eine vorausschauende Sensoreinsatzplanung genutzt, welche eine hohe Lokalisierungsgüte bei geringem Aufwand ermöglicht.}, author = {Achim Kuwertz and Marco F. Huber and Felix Sawo and Uwe D. Hanebeck}, doi = {10.1524/teme.2010.0088}, editor = {Klaus-Dieter Sommer and Fernando Puente León and Michael Heizmann}, journal = {tm - Technisches Messen, Oldenbourg Verlag}, month = {October}, number = {10}, pages = {551--557}, pdf = {TM10_Kuwertz.pdf}, title = {Modellbasierte Quellenverfolgung in räumlich ausgedehnten Phänomenen mittels Sensoreinsatzplanung}, url = {http://dx.doi.org/10.1524/teme.2010.0088}, volume = {77}, year = {2010} }  Frederik Beutler, Marco F. Huber, Uwe D. Hanebeck, Optimal Stochastic Linearization for Range-based Localization,Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan, October, 2010. BibTeX: @inproceedings{IROS10_Beutler, abstract = {In range-based localization, the trajectory of a mobile object is estimated based on noisy range measurements between the object and known landmarks. In order to deal with this uncertain information, a Bayesian state estimator is presented, which exploits optimal stochastic linearization. Compared to standard state estimators like the Extended or Unscented Kalman Filter, where a point-based Gaussian approximation is used, the proposed approach considers the entire Gaussian density for linearization. By employing the common assumption that the state and measurements are jointly Gaussian, the linearization can be calculated in closed form and thus analytic expressions for the range-based localization problem can be derived.}, address = {Taipei, Taiwan}, author = {Frederik Beutler and Marco F. Huber and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010)}, month = {October}, pdf = {IROS10_Beutler.pdf}, title = {Optimal Stochastic Linearization for Range-based Localization}, year = {2010} }  Evgeniya Bogatyrenko, Benjamin Noack, Uwe D. Hanebeck, Reliable Estimation of Heart Surface Motion under Stochastic and Unknown but Bounded Systematic Uncertainties,Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan, October, 2010. BibTeX: @inproceedings{IROS10_Bogatyrenko, abstract = {A reliable estimation of heart surface motion is an important prerequisite for the synchronization of surgical instruments in robotic beating heart surgery. In general, only an imprecise description of the heart dynamics and measurement systems is available. This means that the estimation of heart motion is corrupted by stochastic and systematic uncertainties. Without consideration of these uncertainties, the obtained results will be inaccurate and a safe robotic operation cannot be guaranteed. Until now, existing approaches for estimating the motion of the heart surface are either deterministic or treat only stochastic uncertainties. The proposed method extends the heart motion estimation to the simultaneous consideration of stochastic and unknown but bounded systematic uncertainties. It computes dynamic bounds in order to provide the surgeon with a guidance by constraining the motion of the surgical instruments and thereby protecting sensitive tissue.}, address = {Taipei, Taiwan}, author = {Evgeniya Bogatyrenko and Benjamin Noack and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010)}, month = {October}, pdf = {IROS10_BogatyrenkoNoack.pdf}, title = {Reliable Estimation of Heart Surface Motion under Stochastic and Unknown but Bounded Systematic Uncertainties}, year = {2010} }  Ferdinand Packi, Antonia Pérez Arias, Frederik Beutler, Uwe D. Hanebeck, A Wearable System for the Wireless Experience of Extended Range Telepresence,Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan, October, 2010. BibTeX: @inproceedings{IROS10_Packi, abstract = {Extended range telepresence aims at enabling a user to experience virtual or remote environments, taking his own body movements as an input to define walking speed and viewing direction. Therefore, localization and tracking of the users pose (position and orientation) is necessary to perform a body-centered scene rendering. Visual and acoustic feedback is provided to the user by a head mounted display (HMD). To allow for free movement within the user environment, the tracking system is supposed to be user-wearable and entirely wireless. Consequently, a lightweight design is presented fea- turing small dimensions to fit into a conventional 13"laptop backpack, which satisfies the above stated demands for highly immersive extended range telepresence scenarios. Dedicated embedded hardware combined with off-the-shelf components is employed to form a robust, low-cost telepresence system that can be easily installed in any living room.}, address = {Taipei, Taiwan}, author = {Ferdinand Packi and Antonia Pérez Arias and Frederik Beutler and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010)}, month = {October}, pdf = {IROS10_PackiBeutler.pdf}, title = {A Wearable System for the Wireless Experience of Extended Range Telepresence}, year = {2010} }  Antonia Pérez Arias, Uwe D. Hanebeck, Wide-Area Haptic Guidance: Taking the User by the Hand,Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan, October, 2010. BibTeX: @inproceedings{IROS10_Perez, abstract = {In this paper, we present a novel use of haptic information in extended range telepresence, the wide-area haptic guidance. It consists of force and position signals applied to the user's hand in order to improve safety, accuracy, and speed in some telepresent tasks. Wide-area haptic guidance assists the user in reaching a desired position in a remote environment of arbitrary size without degrading the feeling of presence. Several methods for haptic guidance are analyzed. With active haptic guidance, the user is guided by superimposed forces that pull him into the desired direction of motion, whereas under passive haptic guidance, the movement of the user is lightened in the preferred direction and constrained in the other directions. By using closed-loop haptic guidance instead of open-loop haptic guidance, not only is the user guided to his target but also the deviation from the desired target path is reduced. The proposed guidance methods were tested with a haptic interface specifically designed for extended range telepresence.}, address = {Taipei, Taiwan}, author = {Antonia Pérez Arias and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010)}, month = {October}, pdf = {IROS10_Perez.pdf}, title = {Wide-Area Haptic Guidance: Taking the User by the Hand}, year = {2010} }  Peter Krauthausen, Uwe D. Hanebeck, A Model-Predictive Switching Approach To Efficient Intention Recognition,Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan, October, 2010. BibTeX: @inproceedings{IROS10_Krauthausen, abstract = {Estimating a user's intention is central to close human-robot cooperation. In this paper, the problem of per- forming intention recognition with tree-structured Dynamic Bayesian Networks for large environments with many features is addressed. The proposed approach reduces the computational complexity of inference O(b^s) for tree-structured measurement models with an average branching factor b and tree height s to O((b)s), where b~ << b. The key idea is to switch between a finite set of reduced system and measurement models in order to restrict inference to the most important features. A model predictive approach to online switching between the reduced models is proposed that exploits an upper bound of the distances of the reduced models to the full model. The effectiveness of the proposed algorithm is validated in the intention recognition for a humanoid robot using a telepresent household scenario.}, address = {Taipei, Taiwan}, author = {Peter Krauthausen and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010)}, month = {October}, pdf = {IROS10_Krauthausen.pdf}, title = {A Model-Predictive Switching Approach To Efficient Intention Recognition}, year = {2010} }  Marcus Baum, Michael Feldmann, Dietrich Fränken, Uwe D. Hanebeck, Wolfgang Koch, Extended Object and Group Tracking: A Comparison of Random Matrices and Random Hypersurface Models,Proceedings of the IEEE ISIF Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF 2010), Leipzig, Germany, October, 2010. BibTeX: @inproceedings{SDF10_Baum, abstract = { Based on previous work of the authors, this paper provides a comparison of two different tracking methodologies for extended objects and group targets, where the true shape of the extent is approximated by an ellipsoid. Although both methods exploit usual sensor data, i.e., position measurements of varying scattering centers, the distinctions are a consequence of the different modeling of the extent as a symmetric positive definite random matrix on the one hand and an elliptic random hypersurface model on the other. Besides analyzing the fundamental assumptions and a comparison of the properties of these tracking methods, simulation results are presented based on a static tracking environment to highlight especially the differences in the update step for the extension estimate.}, address = {Leipzig, Germany}, author = {Marcus Baum and Michael Feldmann and Dietrich Fränken and Uwe D. Hanebeck and Wolfgang Koch}, booktitle = {Proceedings of the IEEE ISIF Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF 2010)}, month = {October}, pdf = {SDF10_BaumFeldmann.pdf}, title = {Extended Object and Group Tracking: A Comparison of Random Matrices and Random Hypersurface Models}, year = {2010} }  Rüdiger Dillmann, Jürgen Beyerer, Uwe D. Hanebeck, Tanja Schultz (Eds.), KI 2010: Advances in Artificial Intelligence, Proceedings of the 33rd Annual German Conference on AI, Karlsruhe, Germany,Springer, September, 2010. BibTeX: @book{KI10_Hanebeck, editor = {Rüdiger Dillmann and Jürgen Beyerer and Uwe D. Hanebeck and Tanja Schultz}, month = {September}, publisher = {Springer}, series = {Lecture Notes in Computer Science / Lecture Notes in Artificial Intelligence}, title = {KI 2010: Advances in Artificial Intelligence, Proceedings of the 33rd Annual German Conference on AI, Karlsruhe, Germany}, year = {2010} }  Peter Krauthausen, Uwe D. Hanebeck, Situation-Specific Intention Recognition for Human-Robot-Cooperation,33rd Annual German Conference on Artificial Intelligence (KI 2010), Gesellschaft für Informatik e.V., Karlsruhe, Germany, September, 2010. BibTeX: @inproceedings{KI10_Krauthausen, abstract = {Recognizing human intentions is part of the decision process in many technical devices. In order to achieve natural interaction, the required estimation quality and the used computation time need to be balanced. This becomes challenging, if the number of sensors is high and measurement systems are complex. In this paper, a model predictive approach to this problem based on online switching of small, situation-specific Dynamic Bayesian Networks is proposed. The contributions are an efficient modeling and inference of situations and a greedy model predictive switching algorithm maximizing the mutual information of predicted situations. The achievable accuracy and computational savings are demonstrated for a household scenario by using an extended range telepresence system.}, address = {Karlsruhe, Germany}, author = {Peter Krauthausen and Uwe D. Hanebeck}, booktitle = {33rd Annual German Conference on Artificial Intelligence (KI 2010)}, month = {September}, pdf = {KI10_Krauthausen.pdf}, publisher = {Gesellschaft für Informatik e.V.}, title = {Situation-Specific Intention Recognition for Human-Robot-Cooperation}, year = {2010} }  Ferdinand Packi, Frederik Beutler, Uwe D. Hanebeck, Wireless Acoustic Tracking for Extended Range Telepresence,Proceedings of the 2010 IEEE International Conference on Indoor Positioning and Indoor Navigation (IPIN 2010), Zürich, Switzerland, September, 2010. BibTeX: @inproceedings{IPIN10_Packi, abstract = {Telepresence systems enable a user to experience virtual or distant environments by providing sensory feedback. Appropriate devices include head mounted displays (HMD) for visual perception, headphones for auditory response, or even haptic displays for tactile sensation and force feedback. While most common designs use dedicated input devices like joysticks or a space mouse, the approach followed in the present work takes the user's position and viewing direction as an input, as he walks freely in his local surroundings. This is achieved by using acoustic tracking, where the user's pose (position and orientation) is estimated on the basis of ranges measured between a set of wall-fastened loudspeakers and a microphone array fixed on the user's HMD. To allow for natural user motion, a wearable, fully wireless telepresence system is introduced. The increase in comfort compared to wired solutions is obvious, as the user's awareness of distracting cables is taken away during walking. Also the lightweight design and small dimensions contribute to ergonomics, as the whole assembly fits well into a small backpack.}, address = {Zürich, Switzerland}, author = {Ferdinand Packi and Frederik Beutler and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2010 IEEE International Conference on Indoor Positioning and Indoor Navigation (IPIN 2010)}, month = {September}, pdf = {IPIN10_Packi.pdf}, title = {Wireless Acoustic Tracking for Extended Range Telepresence}, year = {2010} }  Ioana Gheta, Marcus Baum, Andrey Belkin, Jürgen Beyerer, Uwe D. Hanebeck, Three Pillar Information Management System for Modeling the Environment of Autonomous Systems,Proceedings of the 2010 IEEE International Conference on Virtual Environments, Human-Computer Interfaces and Measurement Systems (VECIMS 2010), Taranto, Italy, September, 2010. BibTeX: @inproceedings{VECIMS10_Baum, abstract = { This contribution is about an information management and storage system for modeling the environment of autonomous systems. The three pillars of the system consist of prior knowledge, environment model and sensory information. The main pillar is the environment model, which supplies the autonomous system with relevant information about its current environment. For this purpose, an abstract representation of the real world is created, where instances with attributes and relations serve as virtual substitutes of entities (persons and objects) of the real world. The environment model is created based on sensory information about the real world. The gathered sensory information is typically uncertain in a stochastic sense and is represented in the environment model by means of Degree-of-Belief (DoB) distributions. The prior knowledge contains all relevant background knowledge (e.g., concepts organized in ontologies) for creating and maintaining the environment model. The concept of the three pillar information system has previously been published. Therefore this contribution focuses on further central properties of the system. Furthermore, the development status and possible applications as well as evaluation scenarios are discussed.}, address = {Taranto, Italy}, author = {Ioana Gheta and Marcus Baum and Andrey Belkin and Jürgen Beyerer and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2010 IEEE International Conference on Virtual Environments, Human-Computer Interfaces and Measurement Systems (VECIMS 2010)}, month = {September}, pdf = {VECIMS10_GhetaBaum.pdf}, title = {Three Pillar Information Management System for Modeling the Environment of Autonomous Systems}, year = {2010} }  Reiner Hähnle, Marcus Baum, Richard Bubel, Marcel Rothe, A Visual Interactive Debugger Based on Symbolic Execution,Proceedings of the 25th IEEE/ACM International Conference on Automated Software Engineering (ASE 2010), Antwerp, Belgium, September, 2010. BibTeX: @inproceedings{ASE10_Baum, address = {Antwerp, Belgium}, author = {Reiner Hähnle and Marcus Baum and Richard Bubel and Marcel Rothe}, booktitle = {Proceedings of the 25th IEEE/ACM International Conference on Automated Software Engineering (ASE 2010)}, month = {September}, title = {A Visual Interactive Debugger Based on Symbolic Execution}, year = {2010} }  Marcus Baum, Uwe D. Hanebeck, Association-free Tracking of Two Closely Spaced Targets,Proceedings of the 2010 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2010), Salt Lake City, Utah, USA, September, 2010. BibTeX: @inproceedings{MFI10_Baum, abstract = {This paper introduces a new concept for tracking closely spaced targets in Cartesian space based on position measurements corrupted with additive Gaussian noise. The basic idea is to select a special state representation that eliminates the target identity and avoids the explicit evaluation of association probabilities. One major advantage of this approach is that the resulting likelihood function for this special problem is unimodal. Hence, it is especially suitable for closely spaced targets. The resulting estimation problem can be tackled with a standard nonlinear estimator. In this work, we focus on two targets in two-dimensional Cartesian space. The Cartesian coordinates of the targets are represented by means of extreme values, i.e., minima and maxima. Simulation results demonstrate the feasibility of the new approach.}, address = {Salt Lake City, Utah, USA}, author = {Marcus Baum and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2010 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2010)}, month = {September}, pdf = {MFI10_Baum.pdf}, title = {Association-free Tracking of Two Closely Spaced Targets}, year = {2010} }  Marcus Baum, Uwe D. Hanebeck, Tracking a Minimum Bounding Rectangle based on Extreme Value Theory,Proceedings of the 2010 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2010), Salt Lake City, Utah, USA, September, 2010. BibTeX: @inproceedings{MFI10_BaumRect, abstract = {In this paper, a novel Bayesian estimator for the minimum bounding axis-aligned rectangle of a point set based on noisy measurements is derived. Each given measurement stems from an unknown point and is corrupted with additive Gaussian noise. Extreme value theory is applied in order to derive a linear measurement equation for the problem. The new estimator is applied to the problem of group target and extended object tracking. Instead of estimating each single group member or point feature explicitly, the basic idea is to track a summarizing shape, namely the minimum bounding rectangle, of the group. Simulation results demonstrate the feasibility of the estimator.}, address = {Salt Lake City, Utah, USA}, author = {Marcus Baum and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2010 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2010)}, month = {September}, pdf = {MFI10_BaumRect.pdf}, title = {Tracking a Minimum Bounding Rectangle based on Extreme Value Theory}, year = {2010} }  Marcus Baum, Ioana Gheta, Andrey Belkin, Jürgen Beyerer, Uwe D. Hanebeck, Data Association in a World Model for Autonomous Systems,Proceedings of the 2010 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2010), Salt Lake City, Utah, USA, September, 2010. BibTeX: @inproceedings{MFI10_BaumGheta, abstract = {This contribution introduces a three pillar information storage and management system for modeling the environment of autonomous systems. The main characteristics is the separation of prior knowledge, environment model and sensor information. In the center of the system is the environment model, which provides the autonomous system with information about the current state of the environment. It consists of instances with attributes and relations as virtual substitutes of entities (persons and objects) of the real world. Important features are the representation of uncertain information by means of Degree-of-Belief (DoB) distributions, the information exchange between the three pillars as well as creation, deletion and update of instances, attributes and relations in the environment model. In this work, a Bayesian method for fusing new observations to the environment model is introduced. For this purpose, a Bayesian data association method is derived. The main question answered here is the observation-to-instance mapping and the decision mechanisms for creating a new instance or updating already existing instances in the environment model.}, address = {Salt Lake City, Utah, USA}, author = {Marcus Baum and Ioana Gheta and Andrey Belkin and Jürgen Beyerer and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2010 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2010)}, month = {September}, pdf = {MFI10_BaumGheta.pdf}, title = {Data Association in a World Model for Autonomous Systems}, year = {2010} }  Frederik Beutler, Marco F. Huber, Uwe D. Hanebeck, Semi-Analytic Stochastic Linearization for Range-Based Pose Tracking,Proceedings of the 2010 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2010), Salt Lake City, Utah, USA, September, 2010. BibTeX: @inproceedings{MFI10_Beutler, abstract = {In range-based pose tracking, the translation and rotation of an object with respect to a global coordinate system has to be estimated. The ranges are measured between the target and the global frame. In this paper, an intelligent decomposition is introduced in order to reduce the computational effort for pose tracking. Usually, decomposition procedures only exploit conditionally linear models. In this paper, this principle is generalized to conditionally integrable substructures and applied to pose tracking. Due to a modified measurement equation, parts of the problem can even be solved analytically.}, address = {Salt Lake City, Utah, USA}, author = {Frederik Beutler and Marco F. Huber and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2010 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2010)}, month = {September}, pdf = {MFI10_Beutler.pdf}, title = {Semi-Analytic Stochastic Linearization for Range-Based Pose Tracking}, year = {2010} }  Evgeniya Bogatyrenko, Uwe D. Hanebeck, Simultaneous State and Parameter Estimation for Physics-Based Tracking of Heart Surface Motion,Proceedings of the 2010 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2010), Salt Lake City, Utah, USA, September, 2010. BibTeX: @inproceedings{MFI10_Bogatyrenko, abstract = {Most existing approaches for tracking of the beating heart motion assume known cardiac kinematics and material parameters. However, these assumptions are not realistic for application in beating heart surgery. In this paper, a novel probabilistic tracking approach based on a physical model of the heart surface is presented. In contrast to existing approaches, the physical information about heart kinematics and material properties is incorporated and considered in an estimation of the heart behavior. An additional advantage is that the time-dependencies and uncertainties of the heart parameters are efficiently handled by exploiting simultaneous state and parameter estimation. Furthermore, by decomposing the state into linear and nonlinear substructures, the computational complexity of the estimation problem is reduced. The experimental results demonstrate the high performance of the method proposed in this paper. The solution of the parameter identification problem allows a personalized physical model and opens up possibilities to apply the physics-based tracking of the heart surface motion in a clinical environment.}, address = {Salt Lake City, Utah, USA}, author = {Evgeniya Bogatyrenko and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2010 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2010)}, month = {September}, pdf = {MFI10_Bogatyrenko.pdf}, title = {Simultaneous State and Parameter Estimation for Physics-Based Tracking of Heart Surface Motion}, year = {2010} }  Peter Krauthausen, Henning Eberhardt, Uwe D. Hanebeck, Multivariate Parametric Density Estimation Based On The Modified Cramér-von Mises Distance,Proceedings of the 2010 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2010), Salt Lake City, Utah, USA, September, 2010. BibTeX: @inproceedings{MFI10_KrauthausenEberhardt, abstract = {In this paper, a novel distance-based density estimation method is proposed, which considers the overall density function in the goodness-of-fit. In detail, the parameters of Gaussian mixture densities are estimated from samples, based on the distance of the cumulative distributions over the entire state space. Due to the ambiguous definition of the standard multivariate cumulative distribution, the Localized Cumulative Distribution and a modified Cramér-von Mises distance measure are employed. A further contribution is the derivation of a simple-to-implement optimization procedure for the optimization problem. The proposed approach's good performance in estimating arbitrary Gaussian mixture densities is shown in an experimental comparison to the Expectation Maximization algorithm for Gaussian mixture densities.}, address = {Salt Lake City, Utah, USA}, author = {Peter Krauthausen and Henning Eberhardt and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2010 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2010)}, month = {September}, pdf = {MFI10_KrauthausenEberhardt.pdf}, title = {Multivariate Parametric Density Estimation Based On The Modified Cramér-von Mises Distance}, year = {2010} }  Peter Krauthausen, Uwe D. Hanebeck, Regularized Non-Parametric Multivariate Density and Conditional Density Estimation,Proceedings of the 2010 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2010), Salt Lake City, Utah, USA, September, 2010. BibTeX: @inproceedings{MFI10_Krauthausen, abstract = {In this paper, a distance-based method for both multivariate non-parametric density and conditional density estimation is proposed. The contributions are the formulation of both density estimation problems as weight optimization problems for Gaussian mixtures centered about samples with identical parameters. Furthermore, the minimization is based on the modified Cramér-von Mises distance of the Localized Cumulative Distributions, removing the ambiguity of the defi- nition of the multivariate cumulative distribution function. The minimization problem is amended with a regularization term penalizing the densities' roughness to avoid overfitting. The resulting estimation problems for both densities and conditional densities are shown to be phrasable in the form of readily implementable quadratic programs. Experimental comparison against EM, SVR, and GPR based on the log-likelihood and performance in benchmark recursive filtering applications show high quality of the densities and good performance at less computational cost, i.e., the density representations are sparser.}, address = {Salt Lake City, Utah, USA}, author = {Peter Krauthausen and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2010 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2010)}, month = {September}, pdf = {MFI10_Krauthausen.pdf}, title = {Regularized Non-Parametric Multivariate Density and Conditional Density Estimation}, year = {2010} }  Daniel Lyons, Achim Hekler, Markus Kuderer, Uwe D. Hanebeck, Robust Model Predictive Control with Least Favorable Measurements,Proceedings of the 2010 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2010), Salt Lake City, Utah, USA, September, 2010. Nominee Best Paper Award BibTeX: @inproceedings{MFI10_LyonsHekler, abstract = { Closed-loop model predictive control of nonlinear systems, whose internal states are not completely accessible, incorporates the impact of possible future measurements into the planning process. When planning ahead in time, those measurements are not known, so the closed-loop controller accounts for the expected impact of all potential measurements. We propose a novel conservative closed-loop control approach that does not calculate the expected impact of all measurements, but solely considers the single future measurement that has the worst impact on the control objective. In doing so, the model predictive controller guarantees robustness even in the face of high disturbances acting upon the system. Moreover, by considering only a single dedicated measurement, the complexity of closed-loop control is reduced significantly. The capabilities of our approach are evaluated by means of a path planning problem for a mobile robot.}, address = {Salt Lake City, Utah, USA}, annote = {Nominee Best Paper Award}, author = {Daniel Lyons and Achim Hekler and Markus Kuderer and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2010 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2010)}, month = {September}, pdf = {MFI10_LyonsHekler.pdf}, title = {Robust Model Predictive Control with Least Favorable Measurements}, year = {2010} }  Achim Hekler, Daniel Lyons, Benjamin Noack, Uwe D. Hanebeck, Nonlinear Model Predictive Control Considering Stochastic and Systematic Uncertainties with Sets of Densities,Proceedings of the IEEE Multi-Conference on Systems and Control (MSC 2010), Yokohama, Japan, September, 2010. BibTeX: @inproceedings{MSC10_HeklerLyonsNoack, abstract = {In Model Predictive Control, the quality of control is highly dependent upon the model of the system under control. Therefore, a precise deterministic model is desirable. However, in real-world applications, modeling accuracy is typically limited and systems are generally affected by disturbances. Hence, it is important to systematically consider these uncertainties and to model them correctly. In this paper, we present a novel Nonlinear Model Predictive Control method for systems affected by two different types of perturbations that are modeled as being either stochastic or unknown but bounded quantities. We derive a formal generalization of the Nonlinear Model Predictive Control principle for considering both types of uncertainties simultaneously, which is achieved by using sets of probability densities. In doing so, a more robust and reliable control is obtained. The capabilities and benefits of our approach are demonstrated in real-world experiments with miniature walking robots.}, address = {Yokohama, Japan}, author = {Achim Hekler and Daniel Lyons and Benjamin Noack and Uwe D. Hanebeck}, booktitle = {Proceedings of the IEEE Multi-Conference on Systems and Control (MSC 2010)}, month = {September}, pdf = {MSC10_HeklerLyonsNoack.pdf}, title = {Nonlinear Model Predictive Control Considering Stochastic and Systematic Uncertainties with Sets of Densities}, year = {2010} }  Evgeniya Bogatyrenko, Pascal Pompey, Uwe D. Hanebeck, Efficient Physics-Based Tracking of Heart Surface Motion for Beating Heart Surgery Robotic Systems,International Journal of Computer Assisted Radiology and Surgery (IJCARS 2010), 6(3):387–399, Springer Berlin / Heidelberg, August, 2010. BibTeX: @article{IJCARS10_Bogatyrenko, abstract = {Purpose: Tracking of beating heart motion in a robotic surgery system is required for complex cardiovascular interventions. Methods: A heart surface motion tracking method is developed, including a stochastic physics-based heart surface model and an efficient reconstruction algorithm. The algorithm uses the constraints provided by the model that exploits the physical characteristics of the heart. The main advantage of the model is that it is more realistic than most standard heartmodels. Additionally, no explicit matching between the measurements and the model is required. The application of meshless methods significantly reduces the complexity of physics-based tracking. Results: Based on the stochastic physical model of the heart surface, this approach considers the motion of the intervention area and is robust to occlusions and reflections. The tracking algorithm is evaluated in simulations and experiments on an artificial heart. Providing higher accuracy than the standardmodel-based methods, it successfully copes with occlusions and provides high performance even when all measurements are not available. Conclusions: Combining the physical and stochastic description of the heart surface motion ensures physically correct and accurate prediction. Automatic initialization of the physics-based cardiac motion tracking enables system evaluation in a clinical environment.}, author = {Evgeniya Bogatyrenko and Pascal Pompey and Uwe D. Hanebeck}, doi = {doi:10.1007/s11548-010-0517-5}, issn = {1861-6410}, journal = {International Journal of Computer Assisted Radiology and Surgery (IJCARS 2010)}, month = {August}, note = {doi:10.1007/s11548-010-0517-5}, number = {3}, pages = {387--399}, pdf = {IJCARS10_Bogatyrenko.pdf}, publisher = {Springer Berlin / Heidelberg}, title = {Efficient Physics-Based Tracking of Heart Surface Motion for Beating Heart Surgery Robotic Systems}, url = {http://dx.doi.org/10.1007/s11548-010-0517-5}, volume = {6}, year = {2010} }  Marcus Baum, Vesa Klumpp, Uwe D. Hanebeck, A Novel Bayesian Method for Fitting a Circle to Noisy Points,Proceedings of the 13th International Conference on Information Fusion (Fusion 2010), Edinburgh, United Kingdom, July, 2010. BibTeX: @inproceedings{Fusion10_BaumKlumpp, abstract = { This paper introduces a novel recursive Bayesian estimator for the center and radius of a circle based on noisy points. Each given point is assumed to be a noisy measurement of an unknown true point on the circle that is corrupted with known isotropic Gaussian noise. In contrast to existing approaches, the novel method does not make assumptions about the true points on the circle, where the measurements stem from. Closed-form expressions for the measurement update step are derived. Simulations show that the novel method outperforms standard Bayesian approaches for circle fitting.}, address = {Edinburgh, United Kingdom}, author = {Marcus Baum and Vesa Klumpp and Uwe D. Hanebeck}, booktitle = {Proceedings of the 13th International Conference on Information Fusion (Fusion 2010)}, month = {July}, pdf = {Fusion10_BaumKlumpp.pdf}, title = {A Novel Bayesian Method for Fitting a Circle to Noisy Points}, year = {2010} }  Marcus Baum, Benjamin Noack, Uwe D. Hanebeck, Extended Object and Group Tracking with Elliptic Random Hypersurface Models,Proceedings of the 13th International Conference on Information Fusion (Fusion 2010), Edinburgh, United Kingdom, July, 2010. BibTeX: @inproceedings{Fusion10_BaumNoack, abstract = { This paper provides new results and insights for tracking an extended target object modeled with an Elliptic Random Hypersurface Model (RHM). An Elliptic RHM specifies the relative squared Mahalanobis distance of a measurement source to the center of the target object by means of a one-dimensional random scaling factor. It is shown that uniformly distributed measurement sources on an ellipse lead to a uniformly distributed squared scaling factor. Furthermore, a Bayesian inference mechanisms tailored to elliptic shapes is introduced, which is also suitable for scenarios with high measurement noise. Closed-form expressions for the measurement update in case of Gaussian and uniformly distributed squared scaling factors are derived. }, address = {Edinburgh, United Kingdom}, author = {Marcus Baum and Benjamin Noack and Uwe D. Hanebeck}, booktitle = {Proceedings of the 13th International Conference on Information Fusion (Fusion 2010)}, month = {July}, pdf = {Fusion10_BaumNoack.pdf}, title = {Extended Object and Group Tracking with Elliptic Random Hypersurface Models}, year = {2010} }  Frederik Beutler, Uwe D. Hanebeck, A Two-Step Approach for Offset and Position Estimation from Pseudo-Ranges Applied to Multilateration Tracking,Proceedings of the 13th International Conference on Information Fusion (Fusion 2010), Edinburgh, United Kingdom, July, 2010. BibTeX: @inproceedings{Fusion10_Beutler, abstract = {In multilateration tracking, an object, e.g., an airplane, emits a known reference signal, which is received by several base stations (sensors) located at known positions. The receiving times of the signal at the sensors correspond to the times of arrival (TOA) plus an unknown offset, because the emission time is unknown. Usually, for estimating the position of the object, the receiving times are converted to a larger number of time differences of arrival (TDOA) in order to eliminate the unknown offset. To avoid this conversion, the proposed approach directly uses the receiving times. This is achieved by 1. determining the optimal offset from the redundant measurements in closed form and 2. by considering a modified measurement equation. As a result, position estimation can be performed by optimal stochastic linearization.}, address = {Edinburgh, United Kingdom}, author = {Frederik Beutler and Uwe D. Hanebeck}, booktitle = {Proceedings of the 13th International Conference on Information Fusion (Fusion 2010)}, month = {July}, pdf = {Fusion10_Beutler.pdf}, title = {A Two-Step Approach for Offset and Position Estimation from Pseudo-Ranges Applied to Multilateration Tracking}, year = {2010} }  Patrick Dunau, Ferdinand Packi, Frederik Beutler, Uwe D. Hanebeck, Efficient Multilateration Tracking with Concurrent Offset Estimation using Stochastic Filtering Techniques,Proceedings of the 13th International Conference on Information Fusion (Fusion 2010), Edinburgh, United Kingdom, July, 2010. BibTeX: @inproceedings{Fusion10_DunauPacki, abstract = {Multilateration systems operate by deter- mining distances between a signal transmitter and a number of receivers. In aerial surveillance, radio sig- nals are emitted as Secondary Surveillance Radar (SSR) by the aircraft, representing the signal transmitter. A number of base stations (sensors) receive the signals at different times. Most common approaches use time dif- ference of arrival (TDOA) measurements, calculated by subtracting receiving times of one receiver from another. As TDOAs require intersecting hyperboloids, which is considered a hard task, this paper follows a different ap- proach, using raw receiving times. Thus, estimating the signal's emission time is required, captured as a com- mon offset within an augmented version of the system state. This way, the multilateration problem is reduced to intersecting cones. Estimation of the aircraft's posi- tion based on a nonlinear measurement model and an underlying linear system model is achieved using a lin- ear regression Kalman filter [1, 2]. A decomposed com- putation of the filter step is introduced, allowing a more efficient calculation.}, address = {Edinburgh, United Kingdom}, author = {Patrick Dunau and Ferdinand Packi and Frederik Beutler and Uwe D. Hanebeck}, booktitle = {Proceedings of the 13th International Conference on Information Fusion (Fusion 2010)}, month = {July}, pdf = {Fusion10_DunauPacki.pdf}, title = {Efficient Multilateration Tracking with Concurrent Offset Estimation using Stochastic Filtering Techniques}, year = {2010} }  Henning Eberhardt, Vesa Klumpp, Uwe D. Hanebeck, Density Trees for Efficient Nonlinear State Estimation,Proceedings of the 13th International Conference on Information Fusion (Fusion 2010), Edinburgh, United Kingdom, July, 2010. BibTeX: @inproceedings{Fusion10_EberhardtKlumpp, abstract = { In this paper, a new class of nonlinear Bayesian estimators based on a special space partitioning structure, generalized Octrees, is presented. This structure minimizes memory and calculation overhead. It is used as a container framework for a set of node functions that approximate a density piecewise. All necessary operations are derived in a very general way in order to allow for a great variety of Bayesian estimators. The presented estimators are especially well suited for multi-modal nonlinear estimation problems. The running time performance of the resulting estimators is first analyzed theoretically and then backed by means of simulations. All operations have a linear running time in the number of tree nodes. }, address = {Edinburgh, United Kingdom}, author = {Henning Eberhardt and Vesa Klumpp and Uwe D. Hanebeck}, booktitle = {Proceedings of the 13th International Conference on Information Fusion (Fusion 2010)}, month = {July}, pdf = {Fusion10_EberhardtKlumpp.pdf}, title = {Density Trees for Efficient Nonlinear State Estimation}, year = {2010} }  Vesa Klumpp, Frederik Beutler, Uwe D. Hanebeck, Dietrich Fränken, The Sliced Gaussian Mixture Filter with Adaptive State Decomposition Depending on Linearization Error,Proceedings of the 13th International Conference on Information Fusion (Fusion 2010), Edinburgh, United Kingdom, July, 2010. BibTeX: @inproceedings{Fusion10_Klumpp-SGMF, abstract = {In this paper, a novel nonlinear/non-linear model decomposition for the Sliced Gaussian Mixture Filter is presented. Based on the level of nonlinearity of the model, the overall estimation problem is decomposed into a severely nonlinear and a slightly nonlinear part, which are processed by different estimation techniques. To further improve the efficiency of the estimator, an adaptive state decomposition algorithm is introduced that allows decomposition according to the linearization error for nonlinear system and measurement models. Simulations show that this approach has orders of magnitude less complexity compared to other state of the art estimators, while maintaining comparable estimation errors.}, address = {Edinburgh, United Kingdom}, author = {Vesa Klumpp and Frederik Beutler and Uwe D. Hanebeck and Dietrich Fränken}, booktitle = {Proceedings of the 13th International Conference on Information Fusion (Fusion 2010)}, month = {July}, pdf = {Fusion10_Klumpp-SGMF.pdf}, title = {The Sliced Gaussian Mixture Filter with Adaptive State Decomposition Depending on Linearization Error}, year = {2010} }  Vesa Klumpp, Benjamin Noack, Marcus Baum, Uwe D. Hanebeck, Combined Set-Theoretic and Stochastic Estimation: A Comparison of the SSI and the CS Filter,Proceedings of the 13th International Conference on Information Fusion (Fusion 2010), Edinburgh, United Kingdom, July, 2010. BibTeX: @inproceedings{Fusion10_Klumpp, abstract = {In estimation theory, mainly set-theoretic or stochastic uncertainty is considered. In some cases, especially when some statistics of a distribution are not known or additional stochastic information is used in a set-theoretic estimator, both types of uncertainty have to be considered. In this paper, two estimators that cope with combined stoachastic and set-theoretic uncertainty are compared, namely the Set-theoretic and Statistical Information filter, which represents the uncertainty by means of random sets, and the Credal State filter, in which the state information is given by sets of probability density functions. The different uncertainty assessment in both estimators leads to different estimation results, even when the prior information and the measurement and system models are equal. This paper explains these differences and states directions, when which estimator should be applied to a given estimation problem.}, address = {Edinburgh, United Kingdom}, author = {Vesa Klumpp and Benjamin Noack and Marcus Baum and Uwe D. Hanebeck}, booktitle = {Proceedings of the 13th International Conference on Information Fusion (Fusion 2010)}, month = {July}, pdf = {Fusion10_Klumpp.pdf}, title = {Combined Set-Theoretic and Stochastic Estimation: A Comparison of the SSI and the CS Filter}, year = {2010} }  Peter Krauthausen, Marco F. Huber, Uwe D. Hanebeck, Support-Vector Conditional Density Estimation for Nonlinear Filtering,Proceedings of the 13th International Conference on Information Fusion (Fusion 2010), Edinburgh, United Kingdom, July, 2010. BibTeX: @inproceedings{Fusion10_KrauthausenHuber, abstract = {A non-parametric conditional density estimation algorithm for nonlinear stochastic dynamic systems is proposed. The contributions are a novel sup- port vector regression for estimating conditional den- sities, modeled by Gaussian mixture densities, and an algorithm based on cross-validation for automatically determining hyper-parameters for the regression. The conditional densities are employed with a modi?ed axis- aligned Gaussian mixture filter. The experimental va- lidation shows the high quality of the conditional densi- ties and good accuracy of the proposed filter.}, address = {Edinburgh, United Kingdom}, author = {Peter Krauthausen and Marco F. Huber and Uwe D. Hanebeck}, booktitle = {Proceedings of the 13th International Conference on Information Fusion (Fusion 2010)}, month = {July}, pdf = {Fusion10_KrauthausenHuber.pdf}, title = {Support-Vector Conditional Density Estimation for Nonlinear Filtering}, year = {2010} }  Benjamin Noack, Vesa Klumpp, Nikolay Petkov, Uwe D. Hanebeck, Bounding Linearization Errors with Sets of Densities in Approximate Kalman Filtering,Proceedings of the 13th International Conference on Information Fusion (Fusion 2010), Edinburgh, United Kingdom, July, 2010. BibTeX: @inproceedings{Fusion10_Noack, abstract = {Applying the Kalman filtering scheme to linearized system dynamics and observation models does in general not yield optimal state estimates. More precisely, inconsistent state estimates and covariance matrices are caused by neglected linearization errors. This paper introduces a concept for systematically predicting and updating bounds for the linearization errors within the Kalman filtering framework. To achieve this, an uncertain quantity is not characterized by a single probability density anymore, but rather by a set of densities and accordingly, the linear estimation framework is generalized in order to process sets of probability densities. By means of this generalization, the Kalman filter may then not only be applied to stochastic quantities, but also to unknown but bounded quantities. In order to improve the reliability of Kalman filtering results, the last-mentioned quantities are utilized to bound the typically neglected nonlinear parts of a linearized mapping. }, address = {Edinburgh, United Kingdom}, author = {Benjamin Noack and Vesa Klumpp and Nikolay Petkov and Uwe D. Hanebeck}, booktitle = {Proceedings of the 13th International Conference on Information Fusion (Fusion 2010)}, month = {July}, pdf = {Fusion10_Noack.pdf}, title = {Bounding Linearization Errors with Sets of Densities in Approximate Kalman Filtering}, year = {2010} }  Daniel Lyons, Benjamin Noack, Uwe D. Hanebeck, A Log-Ratio Information Measure for Stochastic Sensor Management,Proceedings of the IEEE International Conference on Sensor Networks, Ubiquitous, and Trustworthy Computing (SUTC 2010), Newport Beach, California, USA, June, 2010. BibTeX: @inproceedings{SUTC10_Lyons, abstract = {In distributed sensor networks, computational and energy resources are in general limited. Therefore, an intelligent selection of sensors for measurements is of great importance to ensure both high estimation quality and an extended lifetime of the network. Methods from the theory of model predictive control together with information theoretic measures have been employed to pick sensors yielding measurements with high information value. We present a novel information measure that originates from a scalar product on a class of continuous probability densities and apply it to the field of sensor management. Aside from its mathematical justifications for quantifying the information content of probability densities, the most remarkable property of the measure, an analogon of the triangle inequality under Bayesian information fusion, is deduced. This allows for deriving computationally cheap upper bounds for the model predictive sensor selection algorithm and for comparing the performance of planning over different lengths of time horizons.}, address = {Newport Beach, California, USA}, author = {Daniel Lyons and Benjamin Noack and Uwe D. Hanebeck}, booktitle = {Proceedings of the IEEE International Conference on Sensor Networks, Ubiquitous, and Trustworthy Computing (SUTC 2010)}, month = {June}, pdf = {SUTC10_Lyons.pdf}, title = {A Log-Ratio Information Measure for Stochastic Sensor Management}, year = {2010} }  Henning Eberhardt, Vesa Klumpp, Uwe D. Hanebeck, Optimal Dirac Approximation by Exploiting Independencies,Proceedings of the 2010 American Control Conference (ACC 2010), Baltimore, Maryland, USA, June, 2010. BibTeX: @inproceedings{ACC10_Eberhardt, abstract = {The sample-based recursive prediction of discrete-time nonlinear stochastic dynamic systems requires a regular reapproximation of the Dirac mixture densities characterizing the state estimate with an exponentially increasing number of components. For that purpose, a systematic approximation method is proposed that is deterministic and guaranteed to minimize a new type distance measure, the so called modified Cramér-von Mises distance. A huge increase in approximation performance is achieved by exploiting structural independencies usually occurring between the random variables used as input to the system. The corresponding prediction step achieves optimal performance when no further assumptions can be made about the system function. In addition, the proposed approach shows a much better convergence compared to the prediction step of the particle filter and by far fewer Dirac components are required for achieving a given approximation quality. As a result, the new approximation method opens the way for the development of new fully deterministic and optimal stochastic state estimators for nonlinear dynamic systems.}, address = {Baltimore, Maryland, USA}, author = {Henning Eberhardt and Vesa Klumpp and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2010 American Control Conference (ACC 2010)}, keywords = {Stochastic systems, Filtering}, month = {June}, pdf = {ACC10_EberhardtKlumpp.pdf}, title = {Optimal Dirac Approximation by Exploiting Independencies}, year = {2010} }  Peter Krauthausen, Uwe D. Hanebeck, Parameter Learning for Hybrid Bayesian Networks With Gaussian Mixture and Dirac Mixture Conditional Densities,Proceedings of the 2010 American Control Conference (ACC 2010), Baltimore, Maryland, USA, June, 2010. BibTeX: @inproceedings{ACC10_Krauthausen, abstract = {In this paper, the first algorithm for learning hybrid Bayesian Networks with Gaussian mixture and Dirac mixture conditional densities from data given their structure is presented. The mixture densities to be learned allow for nonlinear dependencies between the variables and exact closedform inference. For learning the network's parameters, an incremental gradient ascent algorithm is derived. Analytic expressions for the partial derivatives and their combination with messages are presented. This hybrid approach subsumes the existing approach for purely discrete-valued networks and is applicable to partially observable networks, too. Its practicability is demonstrated by a reference example.}, address = {Baltimore, Maryland, USA}, author = {Peter Krauthausen and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2010 American Control Conference (ACC 2010)}, month = {June}, pdf = {ACC10_Krauthausen.pdf}, title = {Parameter Learning for Hybrid Bayesian Networks With Gaussian Mixture and Dirac Mixture Conditional Densities}, year = {2010} }  Daniel Lyons, Achim Hekler, Benjamin Noack, Uwe D. Hanebeck, Maße für Wahrscheinlichkeitsdichten in der informationstheoretischen Sensoreinsatzplanung,Verteilte Messsysteme, pp. 121–132, KIT Scientific Publishing, March, 2010. BibTeX: @incollection{VMS10_Lyons, abstract = {Bei der Beobachtung eines räumlich verteilten Phänomens mit einer Vielzahl von Sensoren ist die intelligente Auswahl von Messkonfigurationen aufgrund von beschränkten Rechen- und Kommunikationskapazitäten entscheidend für die Lebensdauer des Sensornetzes. Mit der Sensoreinsatzplanung kann die im nächsten Zeitschritt anzusteuernde Messkonfiguration dynamisch mittels einer stochastischen modell-prädiktiven Planung über einen endlichen Zeithorizont bestimmt werden. Dabei wird als Gütekriterium die Maximierung des zu erwartenden Informationsgewinns durch zukünftige Messungen unter sparsamer Verwendung der Energieressourcen gewählt. In diesem Artikel wird ein neues Maß für kontinuierliche Wahrscheinlichkeitsdichten vorgestellt, das sich kanonisch aus der Konstruktion eines Vektorraums für Wahrscheinlichkeitsdichten ergibt. Dieses Maß wird als Gütefunktion in der vorausschauenden Sensoreinsatzplanung zur Bewertung des informationstheoretischen Einfluß von Messungen auf die aktuelle Zustandsschätzung verwendet.}, author = {Daniel Lyons and Achim Hekler and Benjamin Noack and Uwe D. Hanebeck}, booktitle = {Verteilte Messsysteme}, editor = {Fernando Puente León and Klaus-Dieter Sommer and Michael Heizmann}, month = {March}, pages = {121--132}, publisher = {KIT Scientific Publishing}, title = {Maße für Wahrscheinlichkeitsdichten in der informationstheoretischen Sensoreinsatzplanung}, url = {http://digbib.ubka.uni-karlsruhe.de/volltexte/1000015670}, year = {2010} }  Benjamin Noack, Vesa Klumpp, Daniel Lyons, Uwe D. Hanebeck, Systematische Beschreibung von Unsicherheiten in der Informationsfusion mit Mengen von Wahrscheinlichkeitsdichten,Verteilte Messsysteme, pp. 167–178, KIT Scientific Publishing, March, 2010. BibTeX: @incollection{VMS10_Noack, abstract = {Die systematische Behandlung von Unsicherheiten stellt eine wesentliche Herausforderung in der Informationsfusion dar. Einerseits müssen geeignete Darstellungsformen für die Unsicherheiten bestimmt werden und andererseits darauf aufbauend effiziente Schätzverfahren hergeleitet werden. Im Allgemeinen wird zwischen stochastischen und mengenbasierten Unsicherheitsbeschreibungen unterschieden. Dieser Beitrag stellt ein Verfahren zur Zustandsschätzung vor, welches simultan stochastische und mengenbasierte Fehlergrößen berücksichtigen kann, indem unsichere Größen nicht mehr durch eine einzelne Wahrscheinlichkeitsdichte, sondern durch eine Menge von Dichten repräsentiert werden. Besonderes Augenmerk liegt hier auf den Vorteilen und Anwendungsmöglichkeiten dieser Unsicherheitsbeschreibung.}, author = {Benjamin Noack and Vesa Klumpp and Daniel Lyons and Uwe D. Hanebeck}, booktitle = {Verteilte Messsysteme}, editor = {Fernando Puente León and Klaus-Dieter Sommer and Michael Heizmann}, month = {March}, pages = {167--178}, publisher = {KIT Scientific Publishing}, title = {Systematische Beschreibung von Unsicherheiten in der Informationsfusion mit Mengen von Wahrscheinlichkeitsdichten}, url = {http://digbib.ubka.uni-karlsruhe.de/volltexte/1000015670}, year = {2010} }  Achim Kuwertz, Marco F. Huber, Felix Sawo, Uwe D. Hanebeck, Sensoreinsatzplanung zur Verfolgung von Quellen räumlich ausgedehnter Phänomene,Verteilte Messsysteme, pp. 179–191, KIT Scientific Publishing, March, 2010. BibTeX: @incollection{VMS10_Kuwertz, abstract = {Räumlich ausgedehnte Phänomene wie Schadstoffverteilungen in Gewässern oder Temperaturverteilungen in Räumen werden vielfach durch unbekannte, aber gegebenenfalls sich bewegende Quellen erzeugt. Allerdings stehen in vielen praktisch relevanten Aufgabenstellungen Informationen zur Lokalisierung einer derartigen Quelle nur indirekt durch eine Vermessung des induzierten Phänomens zur Verfügung, welche den Einsatz eines verteilten Messsystems erfordert. Die Messungen können dabei beispielsweise von einem stationären Sensornetz oder von mobilen Sensoren stammen. In diesem Beitrag werden modellbasierte Verfahren zu echtzeitfähigen Lokalisierung und schritthaltenden Verfolgung von Quellen vorgestellt, welche gezielt räumlich und zeitlich verteilte Messungen einsetzen. Um den Informationsgewinn und somit den Nutzen verteilter Messungen zu maximieren, spielt bei diesem Verfahren neben einer mathematischen Modellierung auch eine vorausschauende Sensoreinsatzplanung eine zentrale Rolle. Das in diesem Beitrag vorgeschlagene Planungsverfahren ermöglicht dabei die effiziente und ressourcenschonende Verfolgung beweglicher Quellen bei gleichzeitig hoher Lokalisierungsgenauigkeit.}, author = {Achim Kuwertz and Marco F. Huber and Felix Sawo and Uwe D. Hanebeck}, booktitle = {Verteilte Messsysteme}, editor = {Fernando Puente León and Klaus-Dieter Sommer and Michael Heizmann}, month = {March}, pages = {179--191}, publisher = {KIT Scientific Publishing}, title = {Sensoreinsatzplanung zur Verfolgung von Quellen räumlich ausgedehnter Phänomene}, url = {http://digbib.ubka.uni-karlsruhe.de/volltexte/1000015670}, year = {2010} }  Antonia Pérez Arias, Tobias Kretz, Peter Ehrhardt, Stefan Hengst, Peter Vortisch, Uwe D. Hanebeck, Extended Range Telepresence for Evacuation Training in Pedestrian Simulations,Proccedings of the 5th International Conference on Pedestrian and Evacuation Dynamics (PED 2010), Springer-Verlag, Gaithersburg, Maryland, USA, March, 2010. BibTeX: @inproceedings{PED10_Perez, abstract = {In this contribution, we propose a new framework to evaluate pedestrian simulations by using Extended Range Telepresence. Telepresence is used as a virtual reality walking simulator, which provides the user with a realistic impression of being present and walking in a virtual environment that is much larger than the real physical environment, in which the user actually walks. The validation of the simulation is performed by comparing motion data of the telepresent user with simulated data at some points of the simulation. The use of haptic feedback from the simulation makes the framework suitable for training in emergency situations.}, address = {Gaithersburg, Maryland, USA}, author = {Antonia Pérez Arias and Tobias Kretz and Peter Ehrhardt and Stefan Hengst and Peter Vortisch and Uwe D. Hanebeck}, booktitle = {Proccedings of the 5th International Conference on Pedestrian and Evacuation Dynamics (PED 2010), Springer-Verlag}, month = {March}, pdf = {PED10_Perez.pdf}, title = {Extended Range Telepresence for Evacuation Training in Pedestrian Simulations}, year = {2010} }  Antonia Pérez Arias, Uwe D. Hanebeck, Peter Ehrhardt and Stefan Hengst, Tobias Kretz, Peter Vortisch, Extended Range Telepresence for Evacuation Training in Pedestrian Simulations,arXiv preprint: Human-Computer Interaction (cs.HC), February, 2010. BibTeX: @article{arXiv10_Perez, abstract = {In this contribution, we propose a new framework to evaluate pedestrian simula-tions by using Extended Range Telepresence. Telepresence is used as a virtual reality walking simulator, which provides the user with a realistic impression of being present and walking in a virtual environment that is much larger than the real physical environment, in which the user actually walks. The validation of the simulation is performed by comparing motion data of the telepresent user with simulated data at some points of the simulation. The use of haptic feedback from the simulation makes the framework suitable for training in emergency situations.}, author = {Antonia Pérez Arias and Uwe D. Hanebeck and Peter Ehrhardt and Stefan Hengst and Tobias Kretz and Peter Vortisch}, journal = {arXiv preprint: Human-Computer Interaction (cs.HC)}, month = {February}, title = {Extended Range Telepresence for Evacuation Training in Pedestrian Simulations}, url = {http://arxiv.org/abs/1002.3770}, year = {2010} }  2009 Ryan Turner, Marc Peter Deisenroth, Carl Edward Rasmussen, System Identification in Gaussian Process Dynamical Systems,Nonparametric Bayes Workshop at NIPS 2009, Whistler, Canada, December, 2009. BibTeX: @inproceedings{NIPS09_Deisenroth, address = {Whistler, Canada}, author = {Ryan Turner and Marc Peter Deisenroth and Carl Edward Rasmussen}, booktitle = {Nonparametric Bayes Workshop at NIPS 2009}, month = {December}, title = {System Identification in Gaussian Process Dynamical Systems}, year = {2009} }  Marcus Baum, Uwe D. Hanebeck, Random Hypersurface Models for Extended Object Tracking,Proceedings of the 9th IEEE International Symposium on Signal Processing and Information Technology (ISSPIT 2009), Ajman, United Arab Emirates, December, 2009. BibTeX: @inproceedings{ISSPIT09_Baum, abstract = {Target tracking algorithms usually assume that the received measurements stem from a point source. However, in many scenarios this assumption is not feasible so that measurements may stem from different locations, named measurement sources, on the target surface. Then, it is necessary to incorporate the target extent into the estimation procedure in order to obtain robust and precise estimation results. This paper introduces the novel concept of Random Hypersurface Models for extended targets. A Random Hypersurface Model assumes that each measurement source is an element of a randomly generated hypersurface. The applicability of this approach is demonstrated by means of an elliptic target shape. In this case, a Random Hypersurface Model specifies the random (relative) Mahalanobis distance of a measurement source to the center of the target object. As a consequence, good estimation results can be obtained even if the true target shape significantly differs from the modeled shape. Additionally, Random Hypersurface Models are computationally tractable with standard nonlinear stochastic state estimators.}, address = {Ajman, United Arab Emirates}, author = {Marcus Baum and Uwe D. Hanebeck}, booktitle = {Proceedings of the 9th IEEE International Symposium on Signal Processing and Information Technology (ISSPIT 2009)}, month = {December}, pdf = {ISSPIT09_Baum.pdf}, timestamp = {2009.10.13}, title = {Random Hypersurface Models for Extended Object Tracking}, year = {2009} }  Uwe D. Hanebeck, Marco F. Huber, Vesa Klumpp, Dirac Mixture Approximation of Multivariate Gaussian Densities,Proceedings of the 2009 IEEE Conference on Decision and Control (CDC 2009), Shanghai, China, December, 2009. BibTeX: @inproceedings{CDC09_HanebeckHuber, abstract = {For the optimal approximation of multivariate Gaussian densities by means of Dirac mixtures, i.e., by means of a sum of weighted Dirac distributions on a continuous domain, a novel systematic method is introduced. The parameters of this approximate density are calculated by minimizing a global distance measure, a generalization of the well-known Cramér- von Mises distance to the multivariate case. This generalization is obtained by defining an alternative to the classical cumulative distribution, the Localized Cumulative Distribution (LCD). In contrast to the cumulative distribution, the LCD is unique and symmetric even in the multivariate case. The resulting deterministic approximation of Gaussian densities by means of discrete samples provides the basis for new types of Gaussian filters for estimating the state of nonlinear dynamic systems from noisy measurements.}, address = {Shanghai, China}, author = {Uwe D. Hanebeck and Marco F. Huber and Vesa Klumpp}, booktitle = {Proceedings of the 2009 IEEE Conference on Decision and Control (CDC 2009)}, month = {December}, pdf = {CDC09_Hanebeck.pdf}, title = {Dirac Mixture Approximation of Multivariate Gaussian Densities}, year = {2009} }  Evgeniya Bogatyrenko, Uwe D. Hanebeck, Gabor Szabo, Heart Surface Motion Estimation Framework for Robotic Surgery Employing Meshless Methods,Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), October, 2009. BibTeX: @inproceedings{IROS09_Bogatyrenko, abstract = {A novel heart surface motion estimation frame- work for a robotic surgery on a stabilized beating heart is proposed. It includes an approach for the reconstruction and prediction of heart surface motion based on a novel physical model of the intervention area described by a distributed- parameter system. Instead of conventional element methods, a meshless method is used for a spatial and temporal decomposi- tion of this system. This leads to a finite-dimensional state-space form. Furthermore, the state of the resulting lumped-parameter system, which provides an approximation of the deflection and velocity of the heart surface, is dynamically estimated under consideration of uncertainties both occurring in the system and arising from noisy camera measurements. By using the estimation results, an accurate reconstruction of heart surface motion for the synchronisation of the surgical instruments is also achieved at occluded or non-measurement points.}, author = {Evgeniya Bogatyrenko and Uwe D. Hanebeck and Gabor Szabo}, booktitle = {Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)}, month = {October}, pdf = {IROS09_Bogatyrenko.pdf}, title = {Heart Surface Motion Estimation Framework for Robotic Surgery Employing Meshless Methods}, year = {2009} }  Marcus Baum, Uwe D. Hanebeck, Tracking an Extended Object Modeled as an Axis-Aligned Rectangle,4th German Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF 2009), 39th Annual Conference of the Gesellschaft für Informatik e.V. (GI), Lübeck, Germany, October, 2009. BibTeX: @inproceedings{SDF09_Baum, abstract = {In many tracking applications, the extent of the target object is neglected and it is assumed that the received measurements stem from a point source. However, modern sensors are able to supply several measurements from different scattering cen- ters on the target object due to their high-resolution capability. As a consequence, it becomes necessary to incorporate the target extent into the estimation procedure. This paper introduces a new method for tracking the smallest enclosing rectangle of an ex- tended object with an unknown shape. At each time step, a finite set of noisy position measurements that stem from arbitrary, unknown measurement sources on the target surface may be available. In contrast to common approaches, the presented approach does not have to make any statistical assumptions on the measurement sources.}, address = {Lübeck, Germany}, author = {Marcus Baum and Uwe D. Hanebeck}, booktitle = {4th German Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF 2009), 39th Annual Conference of the Gesellschaft für Informatik e.V. (GI)}, month = {October}, pdf = {SDF09_Baum.pdf}, title = {Tracking an Extended Object Modeled as an Axis-Aligned Rectangle}, year = {2009} }  Marc P. Deisenroth, Carl E. Rasmussen, Efficient Reinforcement Learning for Motor Control,Proceedings of the 10th International PhD Workshop on Systems and Control, Hluboka nad Vltavou, Czech Republic, September, 2009. BibTeX: @inproceedings{Deisenroth2009, address = {Hluboka nad Vltavou, Czech Republic}, author = {Marc P. Deisenroth and Carl E. Rasmussen}, booktitle = {Proceedings of the 10th International PhD Workshop on Systems and Control}, month = {September}, title = {Efficient Reinforcement Learning for Motor Control}, year = {2009} }  Uwe D. Hanebeck, Thomas C. Henderson (Eds.), Robotics and Autonomous Systems,57(3):237–344, ScienceDirect, September, 2009. BibTeX: @book{MFI09_Hanebeck, editor = {Uwe D. Hanebeck and Thomas C. Henderson}, month = {September}, number = {3}, pages = {237--344}, pdf = {MFI09_Hanebeck.pdf}, publisher = {ScienceDirect}, series = {Selected papers from 2006 IEEE International Conference on Multisensor Fusion and Integration (MFI 2006), 2006 IEEE International Conference on Multisensor Fusion and Integration}, title = {Robotics and Autonomous Systems}, volume = {57}, year = {2009} }  Andreas Rauh, Kai Briechle, Uwe D. Hanebeck, Nonlinear Measurement Update and Prediction: Prior Density Splitting Mixture Estimator,Proceedings of the 2009 IEEE International Conference on Control Applications (CCA 2009), July, 2009. BibTeX: @inproceedings{CCA09_RauhHanebeck, abstract = {In this paper, the Prior Density Splitting Mixture Estimator (PDSME), a new Gaussian mixture filtering algorithm for nonlinear dynamical systems and nonlinear measurement equations, is introduced. This filter reduces the linearization error which typically arises if nonlinear state and measurement equations are linearized to apply linear filtering techniques. For that purpose, the PDSME splits the prior probability density into several components of a Gaussian mixture with smaller covariances. The PDSME is applicable to both prediction and filter steps. A measure for the linearization error similar to the Kullback-Leibler distance is introduced allowing the user to specify the desired estimation quality. An upper bound for the computational effort can be given by limiting the maximum number of Gaussian mixture components.}, author = {Andreas Rauh and Kai Briechle and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2009 IEEE International Conference on Control Applications (CCA 2009)}, month = {July}, pdf = {CCA09_RauhHanebeck.pdf}, title = {Nonlinear Measurement Update and Prediction: Prior Density Splitting Mixture Estimator}, year = {2009} }  Marcus Baum, Uwe D. Hanebeck, Extended Object Tracking based on Combined Set-Theoretic and Stochastic Fusion,Proceedings of the 12th International Conference on Information Fusion (Fusion 2009), Seattle, Washington, USA, July, 2009. BibTeX: @inproceedings{Fusion09_Baum, abstract = {In this paper, a novel approach for tracking extended objects is presented. The target object is modeled as a circular disc such that the center and extent of the target object can be estimated. At each time step, a finite set of position measurements that are corrupted with stochastic noise may be available. Each position measurement stems from an unknown measurement source on the extended object. In contrast to existing approaches, no statistical assumptions about the distribution of the measurement sources on the extended object are made. As a consequence, it is necessary to deal with stochastic and set-valued uncertainties. For this purpose, a novel combined stochastic and set-theoretic estimator that employs random hyperboloids to express the uncertainties about the true circular disc is derived.}, address = {Seattle, Washington, USA}, author = {Marcus Baum and Uwe D. Hanebeck}, booktitle = {Proceedings of the 12th International Conference on Information Fusion (Fusion 2009)}, month = {July}, pdf = {Fusion09_Baum.pdf}, timestamp = {2009.04.21}, title = {Extended Object Tracking based on Combined Set-Theoretic and Stochastic Fusion}, year = {2009} }  Frederik Beutler, Marco F. Huber, Uwe D. Hanebeck, Gaussian Filtering using State Decomposition Methods,Proceedings of the 12th International Conference on Information Fusion (Fusion 2009), Seattle, Washington, USA, July, 2009. BibTeX: @inproceedings{Fusion09_Beutler, abstract = {State estimation for nonlinear systems generally requires approximations of the system or the probability densities, as the occurring prediction and filtering equations cannot be solved in closed form. For instance, Linear Regression Kalman Filters like the Unscented Kalman Filter or the considered Gaussian Filter propagate a small set of sample points through the system to approximate the posterior mean and covariance matrix. To reduce the number of sample points, special structures of the system and measurement equation can be taken into account. In this paper, two principles of system decomposition are considered and applied to the Gaussian Filter. One principle exploits that only a part of the state vector is directly observed by the measurement. The second principle separates the system equations into linear and nonlinear parts in order to merely approximate the nonlinear part of the state. The benefits of both decompositions are demonstrated on a real-world example.}, address = {Seattle, Washington, USA}, author = {Frederik Beutler and Marco F. Huber and Uwe D. Hanebeck}, booktitle = {Proceedings of the 12th International Conference on Information Fusion (Fusion 2009)}, month = {July}, pdf = {Fusion09_Beutler.pdf}, timestamp = {2009.04.20}, title = {Gaussian Filtering using State Decomposition Methods}, year = {2009} }  Julian Hörst, Felix Sawo, Vesa Klumpp, Uwe D. Hanebeck, Dietrich Fränken, Extension of the Sliced Gaussian Mixture Filter with Application to Cooperative Passive Target Tracking,Proceedings of the 12th International Conference on Information Fusion (Fusion 2009), Seattle, Washington, USA, July, 2009. BibTeX: @inproceedings{Fusion09_Hoerst-SGMF, abstract = {This paper copes with the problem of nonlinear Bayesian state estimation. A nonlinear filter, the Sliced Gaussian Mixture Filter (SGMF), employs linear substructures in the nonlinear measurement and prediction model in order to simplify the estimation process. Here, a special density representation, the sliced Gaussian mixture density, is used to derive an exact solution of the Chapman-Kolmogorov equation. The sliced Gaussian mixture density is obtained by a systematic and deterministic approximation of a continuous density minimizing a certain distance measure. In contrast to previous work, improvements of the SGMF presented here include an extended system model and the processing of multi-dimensional nonlinear subspaces. As an application for the SGMF, cooperative passive target tracking, where sensors take angular measurements from a target, is considered in this paper. Finally, the performance of the proposed estimator is compared to the marginalized particle filter (MPF) in simulations.}, address = {Seattle, Washington, USA}, author = {Julian Hörst and Felix Sawo and Vesa Klumpp and Uwe D. Hanebeck and Dietrich Fränken}, booktitle = {Proceedings of the 12th International Conference on Information Fusion (Fusion 2009)}, month = {July}, pdf = {Fusion09_Hoerst.pdf}, timestamp = {2009.04.21}, title = {Extension of the Sliced Gaussian Mixture Filter with Application to Cooperative Passive Target Tracking}, year = {2009} }  Marco F. Huber, Achim Kuwertz, Felix Sawo, Uwe D. Hanebeck, Distributed Greedy Sensor Scheduling for Model-based Reconstruction of Space-Time Continuous Physical Phenomena,Proceedings of the 12th International Conference on Information Fusion (Fusion 2009), Seattle, Washington, USA, July, 2009. BibTeX: @inproceedings{Fusion09_Huber, abstract = {A novel distributed sensor scheduling method for large-scale sensor networks observing space-time continuous physical phenomena is introduced. In a first step, the model of the distributed phenomenon is spatially and temporally decomposed leading to a linear probabilistic finite-dimensional model. Based on this representation, the information gain of sensor measurements is evaluated by means of the so-called covariance reduction function. For this reward function, it is shown that the performance of the greedy sensor scheduling is at least half that of the optimal scheduling considering long-term effects. This finding is the key for distributed sensor scheduling, where a central processing unit or fusion center is unnecessary, and thus, scaling as well as reliability is ensured. Hence, greedy scheduling in combination with a proposed hierarchical communication scheme requires only local sensor information and communication.}, address = {Seattle, Washington, USA}, author = {Marco F. Huber and Achim Kuwertz and Felix Sawo and Uwe D. Hanebeck}, booktitle = {Proceedings of the 12th International Conference on Information Fusion (Fusion 2009)}, month = {July}, pdf = {Fusion09_HuberKuwertz.pdf}, title = {Distributed Greedy Sensor Scheduling for Model-based Reconstruction of Space-Time Continuous Physical Phenomena}, year = {2009} }  Vesa Klumpp, Uwe D. Hanebeck, Nonlinear Fusion of Multi-Dimensional Densities in Joint State Space,Proceedings of the 12th International Conference on Information Fusion (Fusion 2009), Seattle, Washington, USA, July, 2009. BibTeX: @inproceedings{Fusion09_Klumpp-FusionND, abstract = {Nonlinear fusion of multi-dimensional densities is an important application in Bayesian state estimation. In the approach proposed here, a joint density over all considered densities is build, which is then approximated by means of a Dirac mixture density by partitioning the joint state space into regions that are represented by single Dirac components. This approximation procedure depends on the nonlinear fusion model and only areas relevant to this model are considered. The processing in joint state space has advantages, especially when fusing Dirac mixture densities. Within this approach, degeneration can be avoided and even densities without mutual support can be combined. Thus, this approach gives an alternative to multiplication of Dirac mixtures with a likelihood, as used in the particle filter. Furthermore, a nonlinear Bayesian estimator with filter and prediction step can be formulated, which is able to cope with both discrete and continuous densities.}, address = {Seattle, Washington, USA}, author = {Vesa Klumpp and Uwe D. Hanebeck}, booktitle = {Proceedings of the 12th International Conference on Information Fusion (Fusion 2009)}, month = {July}, pdf = {Fusion09_Klumpp-FusionND.pdf}, timestamp = {2009.04.21}, title = {Nonlinear Fusion of Multi-Dimensional Densities in Joint State Space}, year = {2009} }  Vesa Klumpp, Uwe D. Hanebeck, Bayesian Estimation with Uncertain Parameters of Probability Density Functions,Proceedings of the 12th International Conference on Information Fusion (Fusion 2009), Seattle, Washington, USA, July, 2009. BibTeX: @inproceedings{Fusion09_Klumpp-Type2Dens, abstract = {In this paper, we address the problem of processing imprecisely known probability density func- tions by means of Bayesian estimation. The imprecise knowledge about probability density functions is given as stochastic uncertainty about their parameters. The proposed processing of this special density in a Bayesian estimator is accomplished by reinterpretation of the Fil- ter and prediction equations. Here, the parameters are treated as a higher order state, which can be processed by Bayesian estimation techniques. For state estima- tion, this avoids the need to select specific values for unknown parameters and, thus, allows the processing of all potential parameters at once. The proposed approach further allows the use of imprecisely known model equa- tions for measurement and state prediction by the same principle.}, address = {Seattle, Washington, USA}, author = {Vesa Klumpp and Uwe D. Hanebeck}, booktitle = {Proceedings of the 12th International Conference on Information Fusion (Fusion 2009)}, month = {July}, pdf = {Fusion09_Klumpp-Type2Dens.pdf}, title = {Bayesian Estimation with Uncertain Parameters of Probability Density Functions}, year = {2009} }  Peter Krauthausen, Uwe D. Hanebeck, Intention Recognition for Partial-Order Plans Using Dynamic Bayesian Networks,Proceedings of the 12th International Conference on Information Fusion (Fusion 2009), Seattle, Washington, USA, July, 2009. BibTeX: @inproceedings{Fusion09_Krauthausen, abstract = {In this paper, a novel probabilistic ap- proach to intention recognition for partial-order plans is proposed. The key idea is to exploit independences between subplans to substantially reduce the state space sizes in the compiled Dynamic Bayesian Networks. This makes inference more efficient. The main con- tributions are the computationally exploitable definition of subplan structures, the introduction of a novel Lay- ered Intention Model and a Dynamic Bayesian Net- work representation with an inference mechanism that exploits consecutive and concurrent subplans' indepen- dences. The presented approach reduces the state space to the order of the most complex subplan and requires only minor changes in the standard inference mecha- nism. The practicability of this approach is demon- strated by recognizing the process of shelf-assembly.}, address = {Seattle, Washington, USA}, author = {Peter Krauthausen and Uwe D. Hanebeck}, booktitle = {Proceedings of the 12th International Conference on Information Fusion (Fusion 2009)}, month = {July}, pdf = {Fusion09_Krauthausen.pdf}, title = {Intention Recognition for Partial-Order Plans Using Dynamic Bayesian Networks}, year = {2009} }  Benjamin Noack, Vesa Klumpp, Uwe D. Hanebeck, State Estimation with Sets of Densities considering Stochastic and Systematic Errors,Proceedings of the 12th International Conference on Information Fusion (Fusion 2009), Seattle, Washington, USA, July, 2009. BibTeX: @inproceedings{Fusion09_Noack, abstract = {In practical applications, state estimation requires the consideration of stochastic and systematic errors. If both error types are present, an exact probabilistic description of the state estimate is not possible, so that common Bayesian estimators have to be questioned. This paper introduces a theoretical concept, which allows for incorporating unknown but bounded errors into a Bayesian inference scheme by utilizing sets of densities. In order to derive a tractable estimator, the Kalman filter is applied to ellipsoidal sets of means, which are used to bound additive systematic errors. Also, an extension to nonlinear system and observation models with ellipsoidal error bounds is presented. The derived estimator is motivated by means of two example applications.}, address = {Seattle, Washington, USA}, author = {Benjamin Noack and Vesa Klumpp and Uwe D. Hanebeck}, booktitle = {Proceedings of the 12th International Conference on Information Fusion (Fusion 2009)}, month = {July}, pdf = {Fusion09_Noack.pdf}, title = {State Estimation with Sets of Densities considering Stochastic and Systematic Errors}, year = {2009} }  Dennis Schieferdecker, Marco F. Huber, Gaussian Mixture Reduction via Clustering,Proceedings of the 12th International Conference on Information Fusion (Fusion 2009), Seattle, Washington, USA, July, 2009. BibTeX: @inproceedings{Fusion09_Schieferdecker, abstract = {Recursive processing of Gaussian mixture functions inevitably leads to a large number of mixture components. In order to keep the computational complexity at a feasible level, the number of their components has to be reduced periodically. There already exists a variety of algorithms for this purpose, bottom-up and top-down approaches, methods that take the global structure of the mixture into account or that work locally and consider few mixture components at the same time. The mixture reduction algorithm presented in this paper can be categorized as global top-down approach. It takes a clustering algorithm originating from the field of theoretical computer science and adapts it for the problem of Gaussian mixture reduction. The achieved results are on the same scale as the results of the current "state-of-the-art" algorithm PGMR, but, depending on the input size, the whole procedure performs significantly faster.}, address = {Seattle, Washington, USA}, author = {Dennis Schieferdecker and Marco F. Huber}, booktitle = {Proceedings of the 12th International Conference on Information Fusion (Fusion 2009)}, month = {July}, pdf = {Fusion09_SchieferdeckerHuber.pdf}, timestamp = {2009.04.20}, title = {Gaussian Mixture Reduction via Clustering}, year = {2009} }  Antonia Pérez Arias, Uwe D. Hanebeck, A Novel Haptic Interface for Extended Range Telepresence: Control and Evaluation,Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2009), pp. 222–227, Milan, Italy, July, 2009. BibTeX: @inproceedings{ICINCO09_Perez, abstract = {A novel haptic interface for extended range telepresence is presented that allows the user simultaneous wide area motion and haptic interaction in remote environments. To achieve an extended workspace, the haptic interface consists of a haptic manipulator for precise haptic rendering and a large portal carrier system that enlarges the workspace by prepositioning the end-effector. As the prepositioning unit is grounded and driven by three linear drives, our approach has the advantages of high force capability, and an accurate positioning of the haptic interface. The use of this haptic interface with Motion Compression permits to explore large remote environments even from small user environments. As a result, not only has the user visual, acoustic, and haptic feedback but can also control the teleoperator or avatar by natural walking, which considerably increases the sense of immersion. A prototype system for haptic extended range telepresence was designed, implemented, and tested.}, address = {Milan, Italy}, author = {Antonia Pérez Arias and Uwe D. Hanebeck}, booktitle = {Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2009)}, keywords = {Extended range telepresence, motion compression, haptic interface, force control}, month = {July}, pages = {222--227}, pdf = {ICINCO09_Perez.pdf}, title = {A Novel Haptic Interface for Extended Range Telepresence: Control and Evaluation}, year = {2009} }  Marc Peter Deisenroth, Carl Edward Rasmussen, Bayesian Inference for Efficient Learning in Control,Multidisciplinary Symposium on Reinforcement Learning (MSRL), Montreal, Canada, June, 2009. BibTeX: @inproceedings{MSRL09_Deisenroth, address = {Montreal, Canada}, author = {Marc Peter Deisenroth and Carl Edward Rasmussen}, booktitle = {Multidisciplinary Symposium on Reinforcement Learning (MSRL)}, month = {June}, pdf = {PHDWS09_Deisenroth.pdf}, title = {Bayesian Inference for Efficient Learning in Control}, year = {2009} }  Marc P. Deisenroth, Marco F. Huber, Uwe D. Hanebeck, Analytic Moment-based Gaussian Process Filtering,26th International Conference on Machine Learning (ICML 2009) in Montreal, Canada, June, 2009. BibTeX: @inproceedings{ICML09_Deisenroth, abstract = {We propose an analytic moment-based filter for nonlinear stochastic dynamic systems modeled by Gaussian processes. Exact expressions for the expected value and the covariance matrix are provided for both the prediction step and the filter step, where an additional Gaussian assumption is exploited in the latter case. Our filter does not require further approximations. In particular, it avoids finite-sample approximations. We compare the filter to a variety of Gaussian filters, that is, the EKF, the UKF, and the recent GP-UKF proposed by Ko et al. (2007).}, author = {Marc P. Deisenroth and Marco F. Huber and Uwe D. Hanebeck}, booktitle = {26th International Conference on Machine Learning (ICML 2009) in Montreal, Canada}, month = {June}, pdf = {ICML09_DeisenrothHuber.pdf}, title = {Analytic Moment-based Gaussian Process Filtering}, year = {2009} }  Antonia Pérez Arias, Tobias Kretz, Peter Ehrhardt, Stefan Hengst, Peter Vortisch, Uwe D. Hanebeck, A Framework for Evaluating the VISSIM Traffic Simulation with Extended Range Telepresence,Proceedings of the 22nd Annual Conference on Computer Animation and Social Agents (CASA 2009), pp. 13–16, Amsterdam, The Netherlands, June, 2009. BibTeX: @inproceedings{CASA09_Perez, abstract = {This paper presents a novel framework for combining traffic simulations and extended range telepresence. The real user's position data can thus be used for validation and calibration of models of pedestrian dynamics, while the user experiences a high degree of immersion by interacting with agents in realistic simulations.}, address = {Amsterdam, The Netherlands}, author = {Antonia Pérez Arias and Tobias Kretz and Peter Ehrhardt and Stefan Hengst and Peter Vortisch and Uwe D. Hanebeck}, booktitle = {Proceedings of the 22nd Annual Conference on Computer Animation and Social Agents (CASA 2009)}, month = {June}, pages = {13--16}, pdf = {CASA09_Perez.pdf}, title = {A Framework for Evaluating the VISSIM Traffic Simulation with Extended Range Telepresence}, year = {2009} }  Frederik Beutler, Marco F. Huber, Uwe D. Hanebeck, Instantaneous Pose Estimation using Rotation Vectors,IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP 2009) in Taipei, Taiwan, pp. 3413–3416, April, 2009. BibTeX: @inproceedings{ICASSP09_Beutler, abstract = {An algorithm for estimating the pose, i.e., translation and rotation, of an extended target object is introduced. Compared to conventional methods, where pose estimation is performed on the basis of timeof- flight (TOF) measurements between external sources and sensors attached to the object, the proposed approach directly uses the amplitude values measured at the sensors for estimation purposes without an intermediate TOF estimation step. This is achieved by modeling the wave propagation by a nonlinear dynamic system comprising a system and a measurement equation. The nonlinear system equation includes a model of the time-variant structure of the object rotation based on rotation vectors. As a result, the measured amplitude values at the sensors can be processed instantaneously in a recursive fashion. Uncertainties in the measurement process are systematically considered by employing a stochastic filter for estimating the pose, i.e., the state of the nonlinear dynamic system.}, author = {Frederik Beutler and Marco F. Huber and Uwe D. Hanebeck}, booktitle = {IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP 2009) in Taipei, Taiwan}, month = {April}, pages = {3413--3416}, pdf = {ICASSP09_Beutler.pdf}, title = {Instantaneous Pose Estimation using Rotation Vectors}, year = {2009} }  Frederik Beutler, Marco F. Huber, Uwe D. Hanebeck, Probabilistic Instantaneous Model-Based Signal Processing applied to Localization and Tracking,Journal of Robotics and Autonomous Systems, Selected papers from 2006 IEEE International Conference on Multisensor Fusion and Integration (MFI 2006), 57(3):249–258, March, 2009. BibTeX: @article{MFI09_Beutler, abstract = {In this paper, a probabilistic approach for estimating time and space-variant parameters of a system, based on sequentially received discrete-time signal values, is presented. The system description is the solution of a linear partial differential equation (PDE). The PDE describes for example the wave propagation of an acoustic wave in a localization system. The solution of the PDE is given by a time-variant and space-variant impulse response. This impulse response is characterized by the time and space-variant parameters in order to track an object, which emits for example an acoustic signal. For estimating the position of the object in an instantaneous way a Bayesian approach has to be used, which considers the dynamic behavior of the parameters in a system model and uncertainties in a stochastic manner by means of probability density functions. Hence, the new approach provides a probabilistic instantaneous model-based signal processing, where the sequentially measured signal values are processed directly and known reference signal sequences are interpreted as part of a time-variant nonlinear measurement equation.}, author = {Frederik Beutler and Marco F. Huber and Uwe D. Hanebeck}, journal = {Journal of Robotics and Autonomous Systems, Selected papers from 2006 IEEE International Conference on Multisensor Fusion and Integration (MFI 2006)}, month = {March}, note = {doi:10.1016/j.robot.2008.10.013}, number = {3}, pages = {249--258}, title = {Probabilistic Instantaneous Model-Based Signal Processing applied to Localization and Tracking}, url = {http://dx.doi.org/10.1016/j.robot.2008.10.013}, volume = {57}, year = {2009} }  Marc P. Deisenroth, Carl E. Rasmussen, Jan Peters, Gaussian Process Dynamic Programming,Neurocomputing, 72(7--9):1508–1524, March, 2009. BibTeX: @article{NC09_Deisenroth, abstract = {Reinforcement learning (RL) and optimal control of systems with continuous states and actions require approximation techniques in most interesting cases. In this article, we introduce Gaussian process dynamic programming '(GPDP), an approximate value-function based RL algorithm. We consider both a classic optimal control problem, where problem-specific prior knowledge is available, and a classic RL problem, where only very general priors can be used. For the classic optimal control problem, GPDP models the unknown value functions with Gaussian processes and generalizes dynamic programming to continuous-valued states and actions. For the RL problem, GPDP starts from a given initial state and explores the state space using Bayesian active learning. To design a fast learner, available data has to be used efficiently. Hence, we propose to learn probabilistic models of the a priori unknown transition dynamics and the value functions on the fly. In both cases, we successfully apply the resulting continuous-valued controllers to the under-actuated pendulum swing up and analyze the performances of the suggested algorithms. It turns out that GPDP uses data very efficiently and can be applied to problems, where classic dynamic programming would be cumbersome.}, author = {Marc P. Deisenroth and Carl E. Rasmussen and Jan Peters}, citeseerurl = {http://www.science-direct.com/science?_ob=MImg&_imagekey=B6V10-4VC0YDJ-2-11&_cdi=5660&_user=1495569&_orig=browse&_coverDate=03%2F31%2F2009&_sk=999279992&view=c&wchp=dGLbVlW-zSkWb&md5=e6894442349ef0ff2bd4026d3d620d6c&ie=/sdarticle.pdf}, doi = {10.1016/j.neucom.2008.12.019}, journal = {Neurocomputing}, month = {March}, number = {7--9}, pages = {1508--1524}, pdf = {Neurocomputing09_DeisenrothRasmussenPeters_preprint.pdf}, timestamp = {2008.06.16}, title = {Gaussian Process Dynamic Programming}, volume = {72}, year = {2009} }  2008 Henning Lenz, Bruno Betoni Parodi, Hui Wang, Andrei Szabo, Joachim Bamberger, Dragan Obradovic, Joachim Horn, Uwe D. Hanebeck, Adaptive Localization in Wireless Networks,Signal Processing Techniques for Knowledge Extraction and Information Fusion, pp. 97 – 120, Springer US, 2008. BibTeX: @incollection{Springer08_Lenz, abstract = {Indoor positioning approaches based on communication systems typically use the received signal strength (RSS) as measurements. To work properly, such a system often requires many calibration points before its start. Based on theoretical-propagation models (RF planning) and on self-organizing maps (SOM) an adaptive approach for Simultaneous Localization and Learning (SLL) has been developed. The algorithm extracts out of online measurements the true model of the RF propagation. Applying SLL, a self-calibrating RSS-based positioning system with high accuracies can be realized without the need of cost intensive calibration measurements during system installation or maintenance. The main aspects of SLL are addressed as well as convergence and statistical properties. Results for real-world DECT and WLAN setups are given, showing that the localization starts with a basic performance slightly better than Cell-ID, finally reaching the accuracy of pattern matching using calibration points.}, author = {Henning Lenz and Bruno Betoni Parodi and Hui Wang and Andrei Szabo and Joachim Bamberger and Dragan Obradovic and Joachim Horn and Uwe D. Hanebeck}, booktitle = {Signal Processing Techniques for Knowledge Extraction and Information Fusion}, doi = {10.1007/978-0-387-74367-7_6}, editor = {Danilo Mandic and Martin Golz and Anthony Luh and Dragan Obradovic and Toshihisa Tanaka}, pages = {97 -- 120}, pdf = {Fusion08_Lenz.pdf}, publisher = {Springer US}, title = {Adaptive Localization in Wireless Networks}, url = {http://dx.doi.org/10.1007/978-0-387-74367-7_6}, year = {2008} }  Felix Sawo, Kathrin Roberts, Uwe D. Hanebeck, Model-Based Reconstruction of Distributed Phenomena Using Discretized Representations of Partial Differential Equations,Informatics in Control, Automation and Robotics, Selected Papers from ICINCO 2006, Series: Lecture Notes in Electrical Engineering, Springer, 2008. BibTeX: @incollection{LNEE_ICINCO07_SawoRoberts, abstract = {This article addresses the model-based reconstruction and prediction of distributed phenomena characterized by partial differential equations, which are monitored by sensor networks. The novelty of the proposed reconstruction method is the systematic approach and the integrated treatment of uncertainties, which occur in the physical model and arise naturally from noisy measurements. By this means it is possible not only to reconstruct the entire phenomenon, even at non-measurement points, but also to reconstruct the complete density function of the state characterizing the distributed phenomenon. In the first step, the partial differential equation, i.e., distributed-parameter system, is spatially and temporally decomposed leading to a finite-dimensional state space form. In the next step, the state of the resulting lumped-parameter system, which provides an approximation of the solution of the underlying partial differential equation, is dynamically estimated under consideration of uncertainties. By using the estimation results, several additional tasks can be achieved by the sensor network, e.g. optimal sensor placement, optimal scheduling, model improvement, and system identification. The performance of the proposed model-based reconstruction method is demonstrated by means of simulations.}, author = {Felix Sawo and Kathrin Roberts and Uwe D. Hanebeck}, booktitle = {Informatics in Control, Automation and Robotics, Selected Papers from ICINCO 2006, Series: Lecture Notes in Electrical Engineering}, publisher = {Springer}, title = {Model-Based Reconstruction of Distributed Phenomena Using Discretized Representations of Partial Differential Equations}, url = {http://dx.doi.org/10.1007/978-3-540-79142-3_24}, volume = {15}, year = {2008} }  Carl E. Rasmussen, Marc P. Deisenroth, Probabilistic Inference for Fast Learning in Control,Recent Advances in Reinforcement Learning. Proceedings of the 8th European Workshop on Reinforcement Learning (EWRL 2008), 5323:229–242, Springer-Verlag, November, 2008. BibTeX: @incollection{EWRL08RasmussenDeisenroth, abstract = {We provide a novel framework for very fast model-based reinforcement learning in continuous state and action spaces. The framework requires probabilistic models that explicitly characterize their levels of confidence. Within this framework, we use flexible, non-parametric models to describe the world based on previously collected experience. We demonstrate learning on the cart-pole problem in a setting where we provide very limited prior knowledge about the task. Learning progresses rapidly, and a good policy is found after only a hand-full of iterations.}, author = {Carl E. Rasmussen and Marc P. Deisenroth}, booktitle = {Recent Advances in Reinforcement Learning. Proceedings of the 8th European Workshop on Reinforcement Learning (EWRL 2008)}, editor = {S. Girgin and M. Loth and R. Munos and P. Preux and D. Ryabko}, month = {November}, pages = {229--242}, pdf = {EWRL08_RasmussenDeisenroth.pdf}, publisher = {Springer-Verlag}, series = {Lecture Notes in Computer Science}, timestamp = {2008.11.04}, title = {Probabilistic Inference for Fast Learning in Control}, volume = {5323}, year = {2008} }  Oliver C. Schrempf, Uwe D. Hanebeck, Dirac Mixture Approximation for Nonlinear Stochastic Filtering,Informatics in Control, Automation and Robotics — Selected Papers from the International Conference on Informatics in Control, Automation and Robotics 2007, 24:287–300, Springer, September, 2008. BibTeX: @incollection{LNEE_ICINCO08_Schrempf, abstract = {This work presents a filter for estimating the state of nonlinear dynamic systems. It is based on optimal recursive approximation the state densities by means of Dirac mixture functions in order to allow for a closed form solution of the prediction and filter step. The approximation approach is based on a systematic minimization of a distance measure and is hence optimal and deterministic. In contrast to non-deterministic methods we are able to determine the optimal number of components in the Dirac mixture. A further benefit of the proposed approach is the consideration of measurements during the approximation process in order to avoid parameter degradation.}, author = {Oliver C. Schrempf and Uwe D. Hanebeck}, booktitle = {Informatics in Control, Automation and Robotics --- Selected Papers from the International Conference on Informatics in Control, Automation and Robotics 2007}, month = {September}, pages = {287--300}, publisher = {Springer}, series = {Lecture Notes in Electrical Engineering}, timestamp = {2007.12.19}, title = {Dirac Mixture Approximation for Nonlinear Stochastic Filtering}, url = {http://www.springerlink.com/content/n1137843j1456201/}, volume = {24}, year = {2008} }  Florian Weissel, Marco F. Huber, Uwe D. Hanebeck, Stochastic Nonlinear Model Predictive Control based on Gaussian Mixture Approximations,Informatics in Control, Automation and Robotics — Selected Papers from the International Conference on Informatics in Control, Automation and Robotics 2007, 24:239–252, Springer, September, 2008. BibTeX: @incollection{LNEE_ICINCO08_WeisselHuber, abstract = {In this paper, a framework for stochastic Nonlinear Model Predictive Control (NMPC) that explicitly incorporates the noise influence on systems with continuous state spaces is introduced. By the incorporation of noise, which results from uncertainties during model identification and measurement, the quality of control can be significantly increased. Since stochastic NMPC requires the prediction of system states over a certain horizon, an efficient state prediction technique for nonlinear noise-affected systems is required. This is achieved by using transition densities approximated by axis-aligned Gaussian mixtures together with methods to reduce the computational burden. A versatile cost function representation also employing Gaussianmixtures provides an increased freedom of modeling. Combining the rediction technique with this value function representation allows closed-form calculation of the necessary optimization problems arising from stochastic NMPC. The capabilities of the framework and especially the benefits that can be gained by considering the noise in the controller are illustrated by the example of a mobile robot following a given path.}, author = {Florian Weissel and Marco F. Huber and Uwe D. Hanebeck}, booktitle = {Informatics in Control, Automation and Robotics --- Selected Papers from the International Conference on Informatics in Control, Automation and Robotics 2007}, month = {September}, pages = {239--252}, publisher = {Springer}, series = {Lecture Notes in Electrical Engineering}, timestamp = {2007.12.19}, title = {Stochastic Nonlinear Model Predictive Control based on Gaussian Mixture Approximations}, url = {http://www.springerlink.com/content/uv77213064114448/}, volume = {24}, year = {2008} }  Uwe D. Hanebeck, Vesa Klumpp, Localized Cumulative Distributions and a Multivariate Generalization of the Cramér-von Mises Distance,Proceedings of the 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2008), pp. 33–39, Seoul, Republic of Korea, August, 2008. BibTeX: @inproceedings{MFI08_Hanebeck-LCD, abstract = {This paper is concerned with distances for comparing multivariate random vectors with a special focus on the case that at least one of the random vectors is of discrete type, i.e., assumes values from a discrete set only. The first contribution is a new type of characterization of multivariate random quantities, the so called Localized Cumulative Distribution (LCD) that, in contrast to the conventional definition of a cumulative distribution, is unique and symmetric. Based on the LCDs of the random vectors under consideration, the second contribution is the definition of generalized distance measures that are suitable for the multivariate case. These distances are used for both analysis and synthesis purposes. Analysis is concerned with assessing whether a given sample stems from a given continuous distribution. Synthesis is concerned with both density estimation, i.e., calculating a suitable continuous approximation of a given sample, and density discretization, i.e., approximation of a given continuous random vector by a discrete one.}, address = {Seoul, Republic of Korea}, author = {Uwe D. Hanebeck and Vesa Klumpp}, booktitle = {Proceedings of the 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2008)}, month = {August}, pages = {33--39}, pdf = {MFI08_Hanebeck-LCD.pdf}, timestamp = {2008.06.27}, title = {Localized Cumulative Distributions and a Multivariate Generalization of the Cramér-von Mises Distance}, year = {2008} }  Marco F. Huber, Tim Bailey, Hugh Durrant-Whyte, Uwe D. Hanebeck, On Entropy Approximation for Gaussian Mixture Random Vectors,Proceedings of the 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2008), pp. 181–188, Seoul, Republic of Korea, August, 2008. BibTeX: @inproceedings{MFI08_HuberBailey, abstract = {For many practical probability density representations such as for the widely used Gaussian mixture densities, an analytic evaluation of the differential entropy is not possible and thus, approximate calculations are inevitable. For this purpose, the first contribution of this paper deals with a novel entropy approximation method for Gaussian mixture random vectors, which is based on a component-wise Taylor-series expansion of the logarithm of a Gaussian mixture and on a splitting method of Gaussian mixture components. The employed order of the Taylor-series expansion and the number of components used for splitting allows balancing between accuracy and computational demand. The second contribution is the determination of meaningful and efficiently to calculate lower and upper bounds of the entropy, which can be also used for approximation purposes. In addition, a refinement method for the more important upper bound is proposed in order to approach the true entropy value.}, address = {Seoul, Republic of Korea}, author = {Marco F. Huber and Tim Bailey and Hugh Durrant-Whyte and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2008)}, month = {August}, pages = {181--188}, pdf = {MFI08_HuberBailey.pdf}, timestamp = {2008.06.27}, title = {On Entropy Approximation for Gaussian Mixture Random Vectors}, year = {2008} }  Vesa Klumpp, Uwe D. Hanebeck, Direct Fusion of Dirac Mixture Densities using an Efficient Approximation in Joint State Space,Proceedings of the 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2008), pp. 168–174, Seoul, Republic of Korea, August, 2008. BibTeX: @inproceedings{MFI08_Klumpp-DiracFusion, abstract = {In this paper, we present a direct fusion algorithm for processing the combination of two Dirac mixture densities. The proposed approach allows the multiplication of two Dirac mixture densities without requiring identical support and thus enables the fusion of two independently generated sample sets. The resulting posterior Dirac mixture density is an approximation of the true continuous density that would result from the processing of the underlying true continuous density functions. This procedure is based on a suboptimal greedy approximation of the joint state space by means of a Dirac mixture that iteratively increases the resolution of the fusion result while considering only the relevant regions in the joint state space, where the fusion constraint holds.}, address = {Seoul, Republic of Korea}, author = {Vesa Klumpp and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2008)}, month = {August}, pages = {168--174}, pdf = {MFI08_Klumpp-DiracFusion.pdf}, timestamp = {2008.06.27}, title = {Direct Fusion of Dirac Mixture Densities using an Efficient Approximation in Joint State Space}, year = {2008} }  Vesa Klumpp, Uwe D. Hanebeck, Dirac Mixture Trees for Fast Suboptimal Multi-Dimensional Density Approximation,Proceedings of the 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2008), pp. 593–600, Seoul, Republic of Korea, August, 2008. BibTeX: @inproceedings{MFI08_Klumpp-DiracTrees, abstract = {We consider the problem of approximating an arbitrary multi-dimensional probability density function by means of a Dirac mixture density. Instead of an optimal solution based on minimizing a global distance measure between the true density and its approximation, a fast suboptimal anytime procedure is proposed, which is based on sequentially partitioning the state space and component placement by local optimization. The proposed procedure adaptively covers the entire state space with a gradually increasing resolution. It can be efficiently implemented by means of a pre-allocated tree structure in a straightforward manner. The resulting computational complexity is linear in the number of components and linear in the number of dimensions. This allows a large number of components to be handled, which is especially useful in high-dimensional state spaces.}, address = {Seoul, Republic of Korea}, author = {Vesa Klumpp and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2008)}, month = {August}, pages = {593--600}, pdf = {MFI08_Klumpp-DiracTrees.pdf}, timestamp = {2008.06.27}, title = {Dirac Mixture Trees for Fast Suboptimal Multi-Dimensional Density Approximation}, year = {2008} }  Chongning Na, Hui Wang, Dragan Obradovic, Uwe D. Hanebeck, Fourier Density Approximation for Belief Propagation in Wireless Sensor Networks,Proceedings of the 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2008), pp. 290–295, Seoul, Republic of Korea, August, 2008. BibTeX: @inproceedings{MFI08_NaWang, abstract = {Many distributed inference problems in wireless sensor networks can be represented by probabilistic graphical models, where belief propagation, an iterative message passing algorithm provides a promising solution. In order to make the algorithm efficient and accurate, messages which carry the belief information from one node to the others should be formulated in an appropriate format. This paper presents two belief propagation algorithms where non-linear and non-Gaussian beliefs are approximated by Fourier density approximations, which significantly reduces power consumptions in the belief computation and transmission. We use self-localization in wireless sensor networks as an example to illustrate the performance of this method.}, address = {Seoul, Republic of Korea}, author = {Chongning Na and Hui Wang and Dragan Obradovic and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2008)}, month = {August}, pages = {290--295}, pdf = {MFI08_NaWang.pdf}, title = {Fourier Density Approximation for Belief Propagation in Wireless Sensor Networks}, url = {http://dx.doi.org/10.1109/MFI.2008.4648080}, year = {2008} }  Felix Sawo, Thomas C. Henderson, Christopher Sikorski, Uwe D. Hanebeck, Sensor Node Localization Methods based on Local Observations of Distributed Natural Phenomena,Proceedings of the 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2008), pp. 301–308, Seoul, Republic of Korea, August, 2008. Winner Best Paper Award Certificate (PDF) BibTeX: @inproceedings{MFI08_Sawo-Localization, abstract = {This paper addresses the model-based localization of sensor networks based on local observations of a distributed phenomenon. For the localization process, we propose the rigorous exploitation of strong mathematical models of distributed phenomena. By unobtrusively exploiting background phenomena, the individual sensor nodes can be localized by only observing its local surrounding without the necessity of heavy infrastructure. In this paper, we introduce two novel approaches: (a) the polynomial system localization method (PSL-method) and (b) the simultaneous reconstruction and localization method (SRL-method). The first approach (PSLmethod) is based on restating the mathematical model of the distributed phenomenon in terms of a polynomial system. These equations depend on both the state of the phenomenon and the node locations. Solving the system of polynomials for each individual sensor node directly leads to the desired locations. The second approach (SRL-method) basically regards the localization problem as a simultaneous state and parameter estimation problem with the node locations as parameters. By this means, the distributed phenomenon is reconstructed and the individual nodes are localized in a simultaneous fashion. In addition, within this framework the uncertainties in the mathematical model and the measurements are considered. The performance of the two different localization approaches is demonstrated by means of simulation results.}, address = {Seoul, Republic of Korea}, annote = {Winner Best Paper Award Certificate (PDF)}, author = {Felix Sawo and Thomas C. Henderson and Christopher Sikorski and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2008)}, month = {August}, pages = {301--308}, pdf = {MFI08_Sawo-Localization.pdf}, timestamp = {2008.06.27}, title = {Sensor Node Localization Methods based on Local Observations of Distributed Natural Phenomena}, year = {2008} }  Gregor F. Schwarzenberg, Uwe Mayer, Nicole V. Ruiter, Uwe D. Hanebeck, 3D Reflectivity Reconstruction by Means of Spatially Distributed Kalman Filters,Proceedings of the 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2008), pp. 384–391, Seoul, Republic of Korea, August, 2008. BibTeX: @inproceedings{MFI08_Schwarzenberg, abstract = {In seismic, radar, and sonar imaging the exact determination of the reflectivity distribution is usually intractable so that approximations have to be applied. A method called synthetic aperture focusing technique (SAFT) is typically used for such applications as it provides a fast and simple method to reconstruct (3D) images. Nevertheless, this approach has several drawbacks such as causing image artifacts as well as offering no possibility to model system-specific uncertainties. In this paper, a statistical approach is derived, which models the region of interest as a probability density function (PDF) representing spatial reflectivity occurrences. To process the nonlinear measurements, the exact PDF is approximated by well-placed Extended Kalman Filters allowing for efficient and robust data processing. The performance of the proposed method is demonstrated for a 3D ultrasound computer tomograph and comparisons are carried out with the SAFT image reconstruction.}, address = {Seoul, Republic of Korea}, author = {Gregor F. Schwarzenberg and Uwe Mayer and Nicole V. Ruiter and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2008)}, month = {August}, pages = {384--391}, pdf = {MFI08_Schwarzenberg.pdf}, title = {3D Reflectivity Reconstruction by Means of Spatially Distributed Kalman Filters}, year = {2008} }  Hui Wang, Andrei Szabo, Joachim Bamberger, Uwe D. Hanebeck, Simultaneous Multi-Information Fusion and Parameter Estimation for Robust 3-D Indoor Positioning Systems,Proceedings of the 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2008), pp. 445–450, Seoul, Republic of Korea, August, 2008. BibTeX: @inproceedings{MFI08_WangSzabo, abstract = {Typical WLAN based indoor positioning systems take the received signal strength (RSS) as the major information source. Due to the complicated indoor environment, the RSS measurements are hard to model and too noisy to achieve a satisfactory 3-D accuracy in multi-floor scenarios. To enhance the performance of WLAN positioning systems, extra information sources could be integrated. In this paper, a Bayesian framework is applied to fuse multi-information sources and estimate the spatial and time varying parameters simultaneously and adaptively. An application of this framework, which fuses pressure measurements, a topological building map with RSS measurements, and simultaneously estimates the pressure sensor bias, is investigated. Our experiments indicate that the localization performance is more accurate and robust by using our approach.}, address = {Seoul, Republic of Korea}, author = {Hui Wang and Andrei Szabo and Joachim Bamberger and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2008)}, month = {August}, pages = {445--450}, pdf = {MFI08_WangSzabo.pdf}, title = {Simultaneous Multi-Information Fusion and Parameter Estimation for Robust 3-D Indoor Positioning Systems}, url = {http://dx.doi.org/10.1109/MFI.2008.4648035}, year = {2008} }  Florian Weissel, Thomas Schreiter, Marco F. Huber, Uwe D. Hanebeck, Stochastic Model Predictive Control of Time-Variant Nonlinear Systems with Imperfect State Information,Proceedings of the 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2008), pp. 40–46, Seoul, Republic of Korea, August, 2008. BibTeX: @inproceedings{MFI08_WeisselSchreiter, abstract = {In many technical systems, the system state, which is to be controlled, is not directly accessible, but has to be estimated from observations. Furthermore, the uncertainties arising from this procedure are typically neglected in the controller. To remedy this deficiency, in this paper, we present a novel approach to stochastic nonlinear model predictive control (NMPC) for heavily noise-affected systems with not directly accessible, i.e., hidden states, extending the stochastic NMPCframework presented in [1]. An important property of our novel method is that, in contrast to classical approaches, time-variant system and measurement equations as well as time-variant step rewards can be considered. Extending the techniques from [1] by introducing virtual future observations and combining this with a novel tree search algorithm, called probabilistic branch-and-bound search (PBAB), a solution with a feasible computational demand of the challenging problem is possible.}, address = {Seoul, Republic of Korea}, author = {Florian Weissel and Thomas Schreiter and Marco F. Huber and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2008)}, month = {August}, pages = {40--46}, pdf = {MFI08_WeisselSchreiter.pdf}, title = {Stochastic Model Predictive Control of Time-Variant Nonlinear Systems with Imperfect State Information}, year = {2008} }  Marco F. Huber, Uwe D. Hanebeck, Gaussian Filter based on Deterministic Sampling for High Quality Nonlinear Estimation,Proceedings of the 17th IFAC World Congress (IFAC 2008), Seoul, Republic of Korea, July, 2008. BibTeX: @inproceedings{IFAC08_Huber, abstract = {In this paper, a Gaussian filter for nonlinear Bayesian estimation is introduced that is based on a deterministic sample selection scheme. For an effective sample selection, a parametric density function representation of the sample points is employed, which allows approximating the cumulative distribution function of the prior Gaussian density. The computationally demanding parts of the optimization problem formulated for approximation are carried out off-line for obtaining an efficient filter, whose estimation quality can be altered by adjusting the number of used sample points. The improved performance of the proposed Gaussian filter compared to the well-known unscented Kalman fiter is demonstrated by means of two examples.}, address = {Seoul, Republic of Korea}, author = {Marco F. Huber and Uwe D. Hanebeck}, booktitle = {Proceedings of the 17th IFAC World Congress (IFAC 2008)}, month = {July}, number = {2}, pdf = {IFAC08_Huber.pdf}, title = {Gaussian Filter based on Deterministic Sampling for High Quality Nonlinear Estimation}, volume = {17}, year = {2008} }  Felix Sawo, Frederik Beutler, Uwe D. Hanebeck, Decentralized State Estimation of Distributed Phenomena based on Covariance Bounds,Proceedings of the 17th IFAC World Congress (IFAC 2008), Seoul, Republic of Korea, July, 2008. BibTeX: @inproceedings{IFAC08_SawoBeutler, abstract = {This paper addresses the problem of decentralized state estimation of distributed physical phenomena observed by a sensor network. The centralized approaches are not scalable for large sensor networks, because all information has to be transmitted to a powerful central processing node requiring an extensive amount of communication bandwidth and a lot of processing power. Thus, for a decentralized reconstruction of distributed phenomena, we propose a novel methodology consisting of three steps: (a) conversion of the distributed phenomenon into a lumped-parameter system description, (b) decomposition of the resulting system in order to map the description to the actual sensor network, and (c) decomposition of the density representation leading to a decentralized estimation approach. The main problem of a decentralized approach is that due to the propagation of local information through the network, unknown correlations are caused. This fact needs to be considered during the reconstruction process in order to get correct and consistent estimation results. For that reason, we employ a robust estimator (based on Covariance Bounds) for the local reconstruction update on each sensor node. By this means, the individual sensor nodes are able to estimate the local state of the distributed phenomenon using local estimates obtained and communicated by adjacent nodes only. The information about their correlations is not stored in the sensor network.}, address = {Seoul, Republic of Korea}, author = {Felix Sawo and Frederik Beutler and Uwe D. Hanebeck}, booktitle = {Proceedings of the 17th IFAC World Congress (IFAC 2008)}, month = {July}, number = {2}, pdf = {IFAC08_SawoBeutler.pdf}, title = {Decentralized State Estimation of Distributed Phenomena based on Covariance Bounds}, volume = {17}, year = {2008} }  Florian Weissel, Marco F. Huber, Dietrich Brunn, Uwe D. Hanebeck, Stochastic Optimal Control based on Value-Function Approximation using Sinc Interpolation,Proceedings of the 17th IFAC World Congress (IFAC 2008), Seoul, Republic of Korea, July, 2008. BibTeX: @inproceedings{IFAC08_WeisselHuber, abstract = {An effcient approach for solving stochastic optimal control problems is to employ dynamic programming (DP). For continuous-valued nonlinear systems, the corresponding DP recursion generally cannot be solved in closed form. Thus, a typical approach is to discretize the DP value functions in order to be able to carry out the calculation. Especially for multidimensional systems, either a large number of discretization points is necessary or the quality of approximation degrades. This problem can be alleviated by interpolating the discretized value function. In this paper, we present an approach based on optimal low-pass interpolation employing sinc functions (sine cardinal). For the important case of systems with Gaussian mixture noise (including the special case of Gaussian noise), we show how the calculations required for this approach, especially the nontrivial calculation of an expected value of a Gaussian mixture random variable transformed by a sinc function, can be carried out analytically. We illustrate the effectiveness of the proposed interpolation scheme by an example from the field of Stochastic Nonlinear Model Predictive Control (SNMPC).}, address = {Seoul, Republic of Korea}, author = {Florian Weissel and Marco F. Huber and Dietrich Brunn and Uwe D. Hanebeck}, booktitle = {Proceedings of the 17th IFAC World Congress (IFAC 2008)}, month = {July}, number = {2}, pdf = {IFAC08_WeisselHuber.pdf}, title = {Stochastic Optimal Control based on Value-Function Approximation using Sinc Interpolation}, volume = {17}, year = {2008} }  Marco F. Huber, Uwe D. Hanebeck, Progressive Gaussian Mixture Reduction,Proceedings of the 11th International Conference on Information Fusion (Fusion 2008), pp. 1–8, Cologne, Germany, July, 2008. BibTeX: @inproceedings{Fusion08_Huber-PGMR, abstract = {For estimation and fusion tasks it is inevitable to approximate a Gaussian mixture by one with fewer components to keep the complexity bounded. Appropriate approximations can be typically generated by exploiting the redundancy in the shape description of the original mixture. In contrast to the common approach of successively merging pairs of components to maintain a desired complexity, the novel Gaussian mixture reduction algorithm introduced in this paper avoids to directly reduce the original Gaussian mixture. Instead, an approximate mixture is generated from scratch by employing homotopy continuation. This allows starting the approximation with a single Gaussian, which is constantly adapted to the progressively incorporated true Gaussian mixture. Whenever a user-defined bound on the deviation of the approximation cannot be maintained during the continuation, further components are added to the approximation. This facilitates significantly reducing the number of components even for complex Gaussian mixtures.}, address = {Cologne, Germany}, author = {Marco F. Huber and Uwe D. Hanebeck}, booktitle = {Proceedings of the 11th International Conference on Information Fusion (Fusion 2008)}, month = {July}, pages = {1--8}, pdf = {Fusion08_Huber-PGMR.pdf}, title = {Progressive Gaussian Mixture Reduction}, year = {2008} }  Marco F. Huber, Uwe D. Hanebeck, Priority List Sensor Scheduling using Optimal Pruning,Proceedings of the 11th International Conference on Information Fusion (Fusion 2008), pp. 1–8, Cologne, Germany, July, 2008. BibTeX: @inproceedings{Fusion08_Huber_PLSS, abstract = {State estimation and reconstruction quality of distributed phenomena that are monitored by a network of distributed sensors is strongly affected by communication failures, which is a problem in real-world sensor networks. In this paper, we propose a novel sensor scheduling approach named priority list sensor scheduling (PLSS). This approach facilitates efficient distributed estimation in sensor networks, even in case of unreliable communication, by prioritizing the sensor nodes according to local sensor schedules based on the predicted estimation error. It is shown that PLSS minimizes the expected estimation error for arbitrary packet-loss or transmission probabilities. As prioritizing sensor nodes requires the calculation of several sensor schedules, a novel pruning algorithm that preserves optimal schedules is also derived in order to significantly reduce the computational demand. This is accomplished by exploiting the monotonicity of the Riccati equation and the information contribution of individual sensor nodes in combination with a branch-and-bound technique.}, address = {Cologne, Germany}, author = {Marco F. Huber and Uwe D. Hanebeck}, booktitle = {Proceedings of the 11th International Conference on Information Fusion (Fusion 2008)}, month = {July}, pages = {1--8}, pdf = {Fusion08_Huber_PLSS.pdf}, title = {Priority List Sensor Scheduling using Optimal Pruning}, year = {2008} }  Vesa Klumpp, Felix Sawo, Uwe D. Hanebeck, Dietrich Fränken, The Sliced Gaussian Mixture Filter for Efficient Nonlinear Estimation,Proceedings of the 11th International Conference on Information Fusion (Fusion 2008), pp. 1–8, Cologne, Germany, July, 2008. BibTeX: @inproceedings{Fusion08_KlumppSawo-SGMF, abstract = {This paper addresses the efficient state estimation for mixed linear/nonlinear dynamic systems with noisy measurements. Based on a novel density representation - sliced Gaussian mixture density - the decomposition into a (conditionally) linear and nonlinear estimation problem is derived. The systematic approximation procedure minimizing a certain distance measure allows the derivation of (close to) optimal and deterministic estimation results. This leads to high-quality representations of the measurement-conditioned density of the states and, hence, to an overall more efficient estimation process. The performance of the proposed estimator is compared to state-of-the-art estimators, like the well-known marginalized particle filter.}, address = {Cologne, Germany}, author = {Vesa Klumpp and Felix Sawo and Uwe D. Hanebeck and Dietrich Fränken}, booktitle = {Proceedings of the 11th International Conference on Information Fusion (Fusion 2008)}, month = {July}, pages = {1--8}, pdf = {Fusion08_KlumppSawo-SGMF.pdf}, title = {The Sliced Gaussian Mixture Filter for Efficient Nonlinear Estimation}, year = {2008} }  Benjamin Noack, Vesa Klumpp, Dietrich Brunn, Uwe D. Hanebeck, Nonlinear Bayesian Estimation with Convex Sets of Probability Densities,Proceedings of the 11th International Conference on Information Fusion (Fusion 2008), pp. 1–8, Cologne, Germany, July, 2008. BibTeX: @inproceedings{Fusion08_Noack-ConvexSets, abstract = {This paper presents a theoretical framework for Bayesian estimation in the case of imprecisely known probability density functions. The lack of knowledge about the true density functions is represented by sets of densities. A formal Bayesian estimator for these sets is introduced, which is intractable for infinite sets. To obtain a tractable filter, properties of convex sets in form of convex polytopes of densities are investigated. It is shown that pathwise connected sets and their convex hulls describe the same ignorance. Thus, an exact algorithm is derived, which only needs to process the hull, delivering tractable results in the case of a proper parametrization. Since the estimator delivers a convex hull of densities as output, the theoretical grounds are laid for deriving efficient Bayesian estimators for sets of densities. The derived filter is illustrated by means of an example.}, address = {Cologne, Germany}, author = {Benjamin Noack and Vesa Klumpp and Dietrich Brunn and Uwe D. Hanebeck}, booktitle = {Proceedings of the 11th International Conference on Information Fusion (Fusion 2008)}, month = {July}, pages = {1--8}, pdf = {Fusion08_Noack.pdf}, title = {Nonlinear Bayesian Estimation with Convex Sets of Probability Densities}, year = {2008} }  Felix Sawo, Vesa Klumpp, Uwe D. Hanebeck, Simultaneous State and Parameter Estimation of Distributed-Parameter Physical Systems based on Sliced Gaussian Mixture Filter,Proceedings of the 11th International Conference on Information Fusion (Fusion 2008), pp. 1–8, Cologne, Germany, July, 2008. BibTeX: @inproceedings{Fusion08_SawoKlumpp-SimParam, abstract = {This paper presents a method for the simultaneous state and parameter estimation of finite-dimensional models of distributed systems monitored by a sensor network. In the first step, the distributed system is spatially and temporally decomposed leading to a linear finite-dimensional model in state space form. The main challenge is that the simultaneous state and parameter estimation of such systems leads to a high-dimensional nonlinear problem. Thanks to the linear substructure contained in the resulting finite-dimensional model, the development of an overall more efficient estimation process is possible. Therefore, in the second step, we propose the application of a novel density representation - sliced Gaussian mixture density - in order to decompose the estimation problem into a (conditionally) linear and a nonlinear problem. The systematic approximation procedure minimizing a certain distance measure allows the derivation of (close to) optimal and deterministic results. The proposed estimation process provides novel prospects in sensor network applications. The performance is demonstrated by means of simulation results.}, address = {Cologne, Germany}, author = {Felix Sawo and Vesa Klumpp and Uwe D. Hanebeck}, booktitle = {Proceedings of the 11th International Conference on Information Fusion (Fusion 2008)}, month = {July}, pages = {1--8}, pdf = {Fusion08_SawoKlumpp-SimParam.pdf}, timestamp = {2008.04.29}, title = {Simultaneous State and Parameter Estimation of Distributed-Parameter Physical Systems based on Sliced Gaussian Mixture Filter}, year = {2008} }  Hui Wang, Andrei Szabo, Joachim Bamberger, Dietrich Brunn, Uwe D. Hanebeck, Performances Comparison of Nonlinear Filters for Indoor WLAN Positioning,Proceedings of the 11th International Conference on Information Fusion (Fusion 2008), pp. 1–7, Cologne, Germany, July, 2008. BibTeX: @inproceedings{Fusion08_Wang, abstract = {Indoor WLAN positioning should be modeled as a nonlinear and non-Gaussian dynamic system due to the complex indoor environment, radio propagation and motion behaviour. The aim of this paper is to analyze different filtering strategies for real life indoor WLAN positioning systems. The performance criteria for the comparison are the mean of localization errors and computational complexity. Three nonlinear filters are analyzed: Fourier density approximation (FF), particle filter (PF) and grid-based filter (GF), which are representatives for deterministic and random density approximation approaches. Our experimental results help to choose the appropriate filtering techniques under different resource limitations.}, address = {Cologne, Germany}, author = {Hui Wang and Andrei Szabo and Joachim Bamberger and Dietrich Brunn and Uwe D. Hanebeck}, booktitle = {Proceedings of the 11th International Conference on Information Fusion (Fusion 2008)}, month = {July}, pages = {1--7}, pdf = {Fusion08_Wang.pdf}, timestamp = {2008.05.05}, title = {Performances Comparison of Nonlinear Filters for Indoor WLAN Positioning}, year = {2008} }  Marc P. Deisenroth, Jan Peters, Carl E. Rasmussen, Approximate Dynamic Programming with Gaussian Processes,Proceedings of the 2008 American Control Conference (ACC 2008), pp. 4480–4485, Seattle, Washington, USA, June, 2008. BibTeX: @inproceedings{ACC08_DeisenrothPeters-GPDPoriginal, abstract = {In general, it is difficult to determine an optimal closed-loop policy in nonlinear control problems with continuous-valued state and control domains. Hence, approximations are often inevitable. The standard method of discretizing states and controls suffers from the curse of dimensionality and strongly depends on the chosen temporal sampling rate. In this paper, we introduce Gaussian process dynamic programming (GPDP) and determine an approximate globally optimal closed-loop policy. In GPDP, value functions in the Bellman recursion of the dynamic programming algorithm are modeled using Gaussian processes. GPDP returns an optimal state-feedback for a finite set of states. Based on these outcomes, we learn a possibly discontinuous closed-loop policy on the entire state space by switching between two independently trained Gaussian processes. A binary classifier selects one Gaussian process to predict the optimal control signal. We show that GPDP is able to yield an almost optimal solution to an LQ problem using few sample points. Moreover, we successfully apply GPDP to the underpowered pendulum swing up, a complex nonlinear control problem.}, address = {Seattle, Washington, USA}, author = {Marc P. Deisenroth and Jan Peters and Carl E. Rasmussen}, booktitle = {Proceedings of the 2008 American Control Conference (ACC 2008)}, month = {June}, pages = {4480--4485}, pdf = {ACC08_DeisenrothPeters-GPDPoriginal.pdf}, title = {Approximate Dynamic Programming with Gaussian Processes}, year = {2008} }  Marc P. Deisenroth, Carl E. Rasmussen, Jan Peters, Model-Based Reinforcement Learning with Continuous States and Actions,Proceedings of the European Symposium on Artificial Neural Networks (ESANN 2008), pp. 19–24, Bruges, Belgium, April, 2008. BibTeX: @inproceedings{ESANN08_DeisenrothRasmussen-GPDPsysid, abstract = {Finding an optimal policy in a reinforcement learning (RL) framework with continuous state and action spaces is challenging. Approximate solutions are often inevitable. GPDP is an approximate dynamic programming algorithm based on Gaussian process (GP) models for the value functions. In this paper, we extend GPDP to the case of unknown transition dynamics. After building a GP model for the transition dynamics, we apply GPDP to this model and determine a continuous-valued policy in the entire state space. We apply the resulting controller to the underpowered pendulum swing up. Moreover, we compare our results on this RL task to a nearly optimal discrete DP solution in a fully known environment.}, address = {Bruges, Belgium}, author = {Marc P. Deisenroth and Carl E. Rasmussen and Jan Peters}, booktitle = {Proceedings of the European Symposium on Artificial Neural Networks (ESANN 2008)}, month = {April}, pages = {19--24}, pdf = {ESANN08_DeisenrothRasmussen-GPDPsysid.pdf}, title = {Model-Based Reinforcement Learning with Continuous States and Actions}, year = {2008} }  2007 Uwe D. Hanebeck, Oliver C. Schrempf, Greedy Algorithms for Dirac Mixture Approximation of Arbitrary Probability Density Functions,Proceedings of the 2007 IEEE Conference on Decision and Control (CDC 2007), pp. 3065–3071, New Orleans, Louisiana, USA, December, 2007. BibTeX: @inproceedings{CDC07_HanebeckSchrempf, abstract = {Greedy procedures for suboptimal Dirac mixture approximation of an arbitrary probability density function are proposed, which approach the desired density by sequentially adding one component at a time. Similar to the batch solutions proposed earlier, a distance measure between the corresponding cumulative distributions is minimized by selecting the corresponding density parameters. This is due to the fact, that a distance between the densities is typically not well defined for Dirac mixtures. This paper focuses on the Cramer-von Mises distance, a weighted integral quadratic distance measure between the true distribution and its approximation. In contrast to the batch solutions, the computational complexity is much lower and grows only linearly with the number of components. Computational savings are even greater, when the required number of components, e.g., the minimum number of components for achieving a given quality measure, is not a priori known and must be searched for as well. The performance of the proposed sequential approximation approach is compared to that of the optimal batch solution.}, address = {New Orleans, Louisiana, USA}, author = {Uwe D. Hanebeck and Oliver C. Schrempf}, booktitle = {Proceedings of the 2007 IEEE Conference on Decision and Control (CDC 2007)}, month = {December}, pages = {3065--3071}, pdf = {CDC07_HanebeckSchrempf.pdf}, timestamp = {2007.07.30}, title = {Greedy Algorithms for Dirac Mixture Approximation of Arbitrary Probability Density Functions}, year = {2007} }  Florian Weissel, Marco F. Huber, Uwe D. Hanebeck, A Nonlinear Model Predictive Control Framework Approximating Noise Corrupted Systems with Hybrid Transition Densities,Proceedings of the 2007 IEEE Conference on Decision and Control (CDC 2007), pp. 3661–3666, New Orleans, Louisiana, USA, December, 2007. BibTeX: @inproceedings{CDC07_WeisselHuber, abstract = {In this paper, a framework for Nonlinear Model Predictive Control (NMPC) for heavily noise-affected systems is presented. Within this framework, the noise influence, which originates from uncertainties during model identification or measurement, is explicitly considered. This leads to a significant increase in the control quality. One part of the proposed framework is the efficient state prediction, which is necessary for NMPC. It is based on transition density approximation by hybrid transition densities, which allows efficient closed-form state prediction of time-variant nonlinear systems with continuous state spaces in discrete time. Another part of the framework is a versatile value function representation using Gaussian mixtures, Dirac mixtures, and even a combination of both. Based on these methods, an efficient closed-form algorithm for calculating an approximate value function of the NMPC optimal control problem employing dynamic programming is presented. Thus, also very long optimization horizons can be used and furthermore it is possible to calculate the value function off-line, which reduces the on-line computational burden significantly. The capabilities of the framework and especially the benefits that can be gained by incorporating the noise in the controller are illustrated by the example of a miniature walking robot following a given path.}, address = {New Orleans, Louisiana, USA}, author = {Florian Weissel and Marco F. Huber and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2007 IEEE Conference on Decision and Control (CDC 2007)}, month = {December}, pages = {3661--3666}, pdf = {CDC07_WeisselHuber.pdf}, timestamp = {2007.07.30}, title = {A Nonlinear Model Predictive Control Framework Approximating Noise Corrupted Systems with Hybrid Transition Densities}, year = {2007} }  Oliver C. Schrempf, David Albrecht, Uwe D. Hanebeck, Tractable Probabilistic Models for Intention Recognition Based on Expert Knowledge,Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007), pp. 1429–1434, San Diego, California, USA, November, 2007. BibTeX: @inproceedings{IROS07_SchrempfAlbrecht, abstract = {Intention recognition is an important topic in human-robot cooperation that can be tackled using probabilistic model-based methods. A popular instance of such methods are Bayesian networks where the dependencies between random variables are modeled by means of a directed graph. Bayesian networks are very efficient for treating networks with conditionally independent parts. Unfortunately, such independence sometimes has to be constructed by introducing so called hidden variables with an intractably large state space. An example are human actions which depend on human intentions and on other human actions. Our goal in this paper is to find models for intention-action mapping with a reduced state space in order to allow for tractable on-line evaluation. We present a systematic derivation of the reduced model and experimental results of recognizing the intention of a real human in a virtual environment.}, address = {San Diego, California, USA}, author = {Oliver C. Schrempf and David Albrecht and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007)}, month = {November}, pages = {1429--1434}, pdf = {IROS07_SchrempfAlbrecht.pdf}, title = {Tractable Probabilistic Models for Intention Recognition Based on Expert Knowledge}, year = {2007} }  Florian Weissel, Marco F. Huber, Uwe D. Hanebeck, Test-Environment based on a Team of Miniature Walking Robots for Evaluation of Collaborative Control Methods,Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007), pp. 2474–2479, San Diego, California, USA, November, 2007. BibTeX: @inproceedings{IROS07_WeisselHuber, abstract = {For the collaborative control of a team of robots, a set of well-suited high-level control algorithms, especially for path planning and measurement scheduling, is essential. The quality of these control algorithms can be significantly increased by considering uncertainties that arise, e.g. from noisy measurements or system model abstraction, by incorporating stochastic filters into the control. To develop these kinds of algorithms and to prove their effectiveness, obviously real-world experiments with real world uncertainties are mandatory. Therefore, a test-environment for evaluating algorithms for collaborative control of a team of robots is presented. This test-environment is founded on miniature walking robots with six degrees of freedom. Their novel locomotion concept not only allows them to move in a wide variety of different motion patterns far beyond the possibilities of traditionally employed wheel-based robots, but also to handle real-world conditions like uneven ground or small obstacles. These robots are embedded in a modular test-environment, comprising infrastructure and simulation modules as well as a high-level control module with submodules for pose estimation, path planning, and measurement scheduling. The interaction of the individual modules of the introduced test-environment is illustrated by an experiment from the field of cooperative localization with focus on measurement scheduling, where the robots that perform distance measurements are selected based on a novel criterion, the normalized mutual Mahalanobis distance.}, address = {San Diego, California, USA}, author = {Florian Weissel and Marco F. Huber and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007)}, month = {November}, pages = {2474--2479}, pdf = {IROS07_WeisselHuber.pdf}, title = {Test-Environment based on a Team of Miniature Walking Robots for Evaluation of Collaborative Control Methods}, year = {2007} }  Marco F. Huber, Eric Stiegeler, Uwe D. Hanebeck, On Sensor Scheduling in Case of Unreliable Communication,INFORMATIK 2007 - the 37th Annual Conference of the Gesellschaft für Informatik e.V. (GI), 3rd German Workshop Sensor Data Fusion: Trends, Solutions, Applications (SDF 2007), pp. 90–94, Bremen, Germany, September, 2007. BibTeX: @inproceedings{SDF07_Huber, abstract = {This paper deals with the linear discrete-time sensor scheduling problem in unreliable communication networks. In case of the common assumption of an error-free communication, the sensor scheduling problem, where one sensor from a sensor network is selected for measuring at a specific time instant so that the estimation errors are minimized, can be solved off-line by extensive tree search. For the more realistic scenario, where communication is unreliable, a scheduling approach using a prioritization list for the sensors is proposed that leads to a minimization of the estimation error by selecting the most beneficial sensor on-line. To lower the computational demand for the priority list calculation, a novel optimal pruning approach is introduced.}, address = {Bremen, Germany}, author = {Marco F. Huber and Eric Stiegeler and Uwe D. Hanebeck}, booktitle = {INFORMATIK 2007 - the 37th Annual Conference of the Gesellschaft für Informatik e.V. (GI), 3rd German Workshop Sensor Data Fusion: Trends, Solutions, Applications (SDF 2007)}, keywords = {Sensor Scheduling}, month = {September}, pages = {90--94}, pdf = {SDF07_Huber.pdf}, timestamp = {2007.06.18}, title = {On Sensor Scheduling in Case of Unreliable Communication}, year = {2007} }  Marco F. Huber, Dietrich Brunn, Uwe D. Hanebeck, Efficient Nonlinear Measurement Updating based on Gaussian Mixture Approximation of Conditional Densities,Proceedings of the 2007 American Control Conference (ACC 2007), pp. 4425–4430, New York, New York, USA, July, 2007. BibTeX: @inproceedings{ACC07_Huber, abstract = {Filtering or measurement updating for nonlinear stochastic dynamic systems requires approximate calculations, since an exact solution is impossible to obtain in general. We propose a Gaussian mixture approximation of the conditional density, which allows performing measurement updating in closed form. The conditional density is a probabilistic representation of the nonlinear system and depends on the random variable of the measurement given the system state. Unlike the likelihood, the conditional density is independent of actual measurements, which permits determining its approximation off-line. By treating the approximation task as an optimization problem, we use progressive processing to achieve high quality results. Once having calculated the conditional density, the likelihood can be determined on-line, which, in turn, offers an efficient approximate filter step. As result, a Gaussian mixture representation of the posterior density is obtained. The exponential growth of Gaussian mixture components resulting from repeated filtering is avoided implicitly by the prediction step using the proposed techniques.}, address = {New York, New York, USA}, author = {Marco F. Huber and Dietrich Brunn and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2007 American Control Conference (ACC 2007)}, keywords = {System Approximation, Gaussian Mixtures}, month = {July}, pages = {4425--4430}, pdf = {ACC07_Huber-GMLikelihood.pdf}, title = {Efficient Nonlinear Measurement Updating based on Gaussian Mixture Approximation of Conditional Densities}, year = {2007} }  Oliver C. Schrempf, Uwe D. Hanebeck, Recursive Prediction of Stochastic Nonlinear Systems Based on Optimal Dirac Mixture Approximations,Proceedings of the 2007 American Control Conference (ACC 2007), pp. 1768–1774, New York, New York, USA, July, 2007. BibTeX: @inproceedings{ACC07_Schrempf-DiracMixt, abstract = {This paper introduces a new approach to the recursive propagation of probability density functions through discrete-time stochastic nonlinear dynamic systems. An efficient recursive procedure is proposed that is based on the optimal approximation of the posterior densities after each prediction step by means of Dirac mixtures. The parameters of the individual components are selected by systematically minimizing a suitable distance measure in such a way that the future evolution of the approximate densities is as close to the exact densities as possible.}, address = {New York, New York, USA}, author = {Oliver C. Schrempf and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2007 American Control Conference (ACC 2007)}, howpublished = { submitted }, keywords = {Dirac Mixtures}, month = {July}, pages = {1768--1774}, pdf = {ACC07_Schrempf-DiracMixt.pdf}, title = {Recursive Prediction of Stochastic Nonlinear Systems Based on Optimal Dirac Mixture Approximations}, year = {2007} }  Florian Weissel, Marco F. Huber, Uwe D. Hanebeck, Efficient Control of Nonlinear Noise–Corrupted Systems Using a Novel Model Predictive Control Framework,Proceedings of the 2007 American Control Conference (ACC 2007), pp. 3751–3756, New York, New York, USA, July, 2007. BibTeX: @inproceedings{ACC07_WeisselHuber, abstract = {Model identification and measurement acquisition is always to some degree uncertain. Therefore, a framework for Nonlinear Model Predictive Control (NMPC) is proposed that explicitly considers the noise influence on nonlinear dynamic systems with continuous state spaces and a finite set of control inputs in order to significantly increase the control quality. Integral parts of NMPC are the prediction of system states over a finite horizon as well as the problem specific modeling of reward functions. For achieving an efficient and also accurate state prediction, the introduced framework uses transition densities approximated by means of axis-aligned Gaussian mixtures. The representation power of Gaussian mixtures is also used to model versatile reward functions. Thus, together with the prediction technique a closed-form calculation of the optimization problems arising from NMPC is possible. Additionally, an efficient algorithm for calculating an approximate value function of the corresponding optimal control problem employing dynamic programming is presented. Thus, the value function can be calculated off-line, which reduces the on-line computational burden significantly and also permits the use of long optimization horizons. The capabilities of the framework and especially the benefits that can be gained by incorporating the noise in the controller are illustrated by the example of a two-wheeled differential-drive mobile robot following a given path.}, address = {New York, New York, USA}, author = {Florian Weissel and Marco F. Huber and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2007 American Control Conference (ACC 2007)}, month = {July}, pages = {3751--3756}, pdf = {ACC07_WeisselHuber.pdf}, title = {Efficient Control of Nonlinear Noise--Corrupted Systems Using a Novel Model Predictive Control Framework}, year = {2007} }  Marc P. Deisenroth, Florian Weissel, Toshiyuki Ohtsuka, Uwe D. Hanebeck, Online-Computation Approach to Optimal Control of Noise-Affected Nonlinear Systems with Continuous State and Control Spaces,Proceedings of the 2007 European Control Conference (ECC 2007), Kos, Greece, July, 2007. BibTeX: @inproceedings{ECC07_DeisenrothWeissel, abstract = {A novel online-computation approach to optimal control of nonlinear, noise-affected systems with continuous state and control spaces is presented. In the proposed algorithm, system noise is explicitly incorporated into the control decision. This leads to superior results compared to state-of-the-art nonlinear controllers that neglect this influence. The solution of an optimal nonlinear controller for a corresponding deterministic system is employed to find a meaningful state space restriction. This restriction is obtained by means of approximate state prediction using the noisy system equation. Within this constrained state space, an optimal closed-loop solution for a finite decisionmaking horizon (prediction horizon) is determined within an adaptively restricted optimization space. Interleaving stochastic dynamic programming and value function approximation yields a solution to the considered optimal control problem. The enhanced performance of the proposed discrete-time controller is illustrated by means of a scalar example system. Nonlinear model predictive control is applied to address approximate treatment of infinite-horizon problems by the finite-horizon controller.}, address = {Kos, Greece}, author = {Marc P. Deisenroth and Florian Weissel and Toshiyuki Ohtsuka and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2007 European Control Conference (ECC 2007)}, month = {July}, pdf = {ECC07_DeisenrothWeissel.pdf}, title = {Online-Computation Approach to Optimal Control of Noise-Affected Nonlinear Systems with Continuous State and Control Spaces}, year = {2007} }  Anne Hanselmann, Oliver C. Schrempf, Uwe D. Hanebeck, Optimal Parametric Density Estimation by Minimizing an Analytic Distance Measure,Proceedings of the 10th International Conference on Information Fusion (Fusion 2007), Quebec, Canada, July, 2007. BibTeX: @inproceedings{Fusion07_HanselmannSchrempf, abstract = {In this paper, we present a novel approach to parametric density estimation from given samples. The samples are treated as a parametric density function by means of a Dirac mixture, which allows for applying analytic optimization techniques. The method is based on minimizing a distance measure between the integral of the approximation function and the empirical cumulative distribution function (EDF) of the given samples, where the EDF is represented by the integral of the Dirac mixture. Since this minimization problem cannot be solved directly in general, a progression technique is applied. Increased performance of the approach in comparison to iterative maximum likelihood approaches is shown in simulations.}, address = {Quebec, Canada}, author = {Anne Hanselmann and Oliver C. Schrempf and Uwe D. Hanebeck}, booktitle = {Proceedings of the 10th International Conference on Information Fusion (Fusion 2007)}, month = {July}, pdf = {Fusion07_HanselmannSchrempf.pdf}, title = {Optimal Parametric Density Estimation by Minimizing an Analytic Distance Measure}, year = {2007} }  Marco F. Huber, Uwe D. Hanebeck, The Hybrid Density Filter for Nonlinear Estimation based on Hybrid Conditional Density Approximation,Proceedings of the 10th International Conference on Information Fusion (Fusion 2007), Quebec, Canada, July, 2007. BibTeX: @inproceedings{Fusion07_Huber, abstract = {In nonlinear Bayesian estimation it is generally inevitable to incorporate approximate descriptions of the exact estimation algorithm. There are two possible ways to involve approximations: Approximating the nonlinear stochastic system model or approximating the prior probability density function. The key idea of the introduced novel estimator called Hybrid Density Filter relies on approximating the nonlinear system, thus approximating conditional densities. These densities nonlinearly relate the current system state to the future system state at predictions or to potential measurements at measurement updates. A hybrid density consisting of both Dirac delta functions and Gaussian densities is used for an optimal approximation. This paper addresses the optimization problem for treating the conditional density approximation. Furthermore, efficient estimation algorithms are derived based upon the special structure of the hybrid density, which yield a Gaussian mixture representation of the system state's density.}, address = {Quebec, Canada}, author = {Marco F. Huber and Uwe D. Hanebeck}, booktitle = {Proceedings of the 10th International Conference on Information Fusion (Fusion 2007)}, keywords = {System Approximation, Hybrid Density}, month = {July}, pdf = {Fusion07_Huber.pdf}, title = {The Hybrid Density Filter for Nonlinear Estimation based on Hybrid Conditional Density Approximation}, year = {2007} }  Felix Sawo, Marco F. Huber, Uwe D. Hanebeck, Parameter Identification and Reconstruction for Distributed Phenomena Based on Hybrid Density Filter,Proceedings of the 10th International Conference on Information Fusion (Fusion 2007), Quebec, Canada, July, 2007. BibTeX: @inproceedings{Fusion07_SawoHuber-ParamIdent, abstract = {This paper addresses the problem of model-based reconstruction and parameter identification of distributed phenomena characterized by partial differential equations. The novelty of the proposed method is the systematic approach and the integrated treatment of uncertainties, which naturally occur in the physical system and arise from noisy measurements. The main challenge of accurate reconstruction is that model parameters, i.e., diffusion coefficients, of the physical model are not known in advance and usually need to be identified. Generally, the problem of parameter identification leads to a nonlinear estimation problem. Hence, a novel efficient recursive procedure is employed. Unlike other estimators, the so-called Hybrid Density Filter not only assures accurate estimation results for nonlinear systems, but also offers an efficient processing. By this means it is possible to reconstruct and identify distributed phenomena monitored by autonomous wireless sensor networks. The performance of the proposed estimation method is demonstrated by means of simulations.}, address = {Quebec, Canada}, author = {Felix Sawo and Marco F. Huber and Uwe D. Hanebeck}, booktitle = {Proceedings of the 10th International Conference on Information Fusion (Fusion 2007)}, month = {July}, pdf = {Fusion07_SawoHuber-ParamIdent.pdf}, title = {Parameter Identification and Reconstruction for Distributed Phenomena Based on Hybrid Density Filter}, year = {2007} }  Hui Wang, Henning Lenz, Andrei Szabo, Joachim Bamberger, Uwe D. Hanebeck, Enhancing the Map Usage for Indoor Location-Aware Systems,International Conference on Human-Computer Interaction (HCI 2007), Peking, China, July, 2007. BibTeX: @inproceedings{HCI07_Wang, abstract = {Location-aware systems are receiving more and more interest in both academia and industry due to their promising prospective in a broad category of so-called Location-Based-Services (LBS). The map interface plays a crucial role in the location-aware systems, especially for indoor scenarios. This paper addresses the usage of map information in a Wireless LAN (WLAN)-based indoor navigation system. We describe the benefit of using maNMp information in multiple algorithms of the system, including radio-map generation, tracking, semantic positioning and navigation. Then we discuss how to represent or model the indoor map to fulfill the requirements of intelligent algorithms. We believe that a vector-based multi-layer representation is the best choice for indoor location-aware system.}, address = {Peking, China}, author = {Hui Wang and Henning Lenz and Andrei Szabo and Joachim Bamberger and Uwe D. Hanebeck}, booktitle = {International Conference on Human-Computer Interaction (HCI 2007)}, month = {July}, pdf = {HCI07_Wang.pdf}, title = {Enhancing the Map Usage for Indoor Location-Aware Systems}, year = {2007} }  Kathrin Roberts, Uwe D. Hanebeck, Motion Estimation and Reconstruction of a Heart Surface by Means of 2D-/3D- Membrane Models,Proceedings of 21st International Congress and Exhibition on Computer Assisted Radiology and Surgery (CARS 2007), pp. 243–245, Berlin, Germany, June, 2007. BibTeX: @inproceedings{CARS07_Roberts, abstract = {In order to assist surgeons during minimally invasive interventions on the beating heart, it would be helpful to develop a robotic surgery system, which synchronizes the instruments with the heart surface, so that their positions do not change relative to the point of interest (POI). The synchronization of the robotic manipulators requires an estimation of the heart surface motion. In this paper, a modelbased motion estimation of the heart surface is presented. The motion of a partition of the heart surface is modelled by means of a thin or thick vibrating membrane in order to represent the epicardial surface or the connected epicard and myocard. The membrane motion is described by means of a system of coupled linear partial differential equations (PDEs), whose 3D-input function is assumed to be known. After spatial discretization of the PDE solution space by the Finite Spectral Element Method, a bank of lumped systems is obtained. A Kalman filter is used to estimate the state of the lumped systems by incorporating noisy measurements of the heart surface. Measurements can be the position or velocity of sonomicrometry-based sensors or of certain landmarks, which are tracked by optical sensors. With the model-based estimation it is possible to reconstruct the entire partition of the heart surface even at non-measurement points and thus at each POI.}, address = {Berlin, Germany}, author = {Kathrin Roberts and Uwe D. Hanebeck}, booktitle = {Proceedings of 21st International Congress and Exhibition on Computer Assisted Radiology and Surgery (CARS 2007)}, month = {June}, pages = {243--245}, pdf = {CARS07_Roberts.pdf}, title = {Motion Estimation and Reconstruction of a Heart Surface by Means of 2D-/3D- Membrane Models}, year = {2007} }  Oliver C. Schrempf, Uwe D. Hanebeck, A State Estimator for Nonlinear Stochastic Systems Based on Dirac Mixture Approximations,Proceedings of the 4th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2007), SPSMC:54–61, Angers, France, May, 2007. BibTeX: @inproceedings{ICINCO07_Schrempf-DiracMixt, abstract = {This paper presents a filter approach for estimating the state of nonlinear dynamic systems based on recursive approximation of posterior densities by means of Dirac mixture functions. The filter consists of a prediction step and a filter step. The approximation approach is based on a systematic minimization of a distance measure and is hence optimal and deterministic. In contrast to non-deterministic methods we are able to determine the optimal number of components in the Dirac mixture. A further benefit of the proposed approach is the consideration of measurements during the approximation process in order to avoid parameter degradation.}, address = {Angers, France}, author = {Oliver C. Schrempf and Uwe D. Hanebeck}, booktitle = {Proceedings of the 4th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2007)}, keywords = {Dirac Mixtures}, month = {May}, pages = {54--61}, pdf = {ICINCO07_Schrempf-DiracMixt.pdf}, timestamp = {2007.05.30}, title = {A State Estimator for Nonlinear Stochastic Systems Based on Dirac Mixture Approximations}, volume = {SPSMC}, year = {2007} }  Florian Weissel, Marco F. Huber, Uwe D. Hanebeck, A Closed–Form Model Predictive Control Framework for Nonlinear Noise–Corrupted Systems,Proceedings of the 4th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2007), SPSMC:62–69, Angers, France, May, 2007. BibTeX: @inproceedings{ICINCO07_WeisselHuber, abstract = {In this paper, a framework for Nonlinear Model Predictive Control (NMPC) that explicitly incorporates the noise influence on systems with continuous state spaces is introduced. By the incorporation of noise, which results from uncertainties during model identification and the measurement process, the quality of control can be significantly increased. Since NMPC requires the prediction of system states over a certain horizon, an efficient state prediction technique for nonlinear noise-affected systems is required. This is achieved by using transition densities approximated by axis-aligned Gaussian mixtures together with methods to reduce the computational burden. A versatile cost function representation also employing Gaussian mixtures provides an increased freedom of modeling. Combining the prediction technique with this value function representation allows closed-form calculation of the necessary optimization problems arising from NMPC. The capabilities of the framework and especially the benefits that can be gained by considering the noise in the controller are illustrated by the example of a mobile robot following a given path.}, address = {Angers, France}, author = {Florian Weissel and Marco F. Huber and Uwe D. Hanebeck}, booktitle = {Proceedings of the 4th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2007)}, month = {May}, pages = {62--69}, pdf = {ICINCO07_WeisselHuber.pdf}, title = {A Closed--Form Model Predictive Control Framework for Nonlinear Noise--Corrupted Systems}, volume = {SPSMC}, year = {2007} }  Thomas Bader, Alexander Wiedemann, Kathrin Roberts, Uwe D. Hanebeck, Model–based Motion Estimation of Elastic Surfaces for Minimally Invasive Cardiac Surgery,Proceedings of the 2007 IEEE International Conference on Robotics and Automation (ICRA 2007), pp. 2261–2266, Rome, Italy, April, 2007. BibTeX: @inproceedings{ICRA07_Bader, abstract = {In order to assist surgeons during surgery on moving organs, e.g. minimally invasive beating heart bypass surgery, a master-slave system which synchronizes surgical instruments with the organ's motion is desired. This synchronization requires reliable estimation of the organ's motion. In this paper, we present a new approach to motion estimation based on a state motion model for a partition of the heart's surface. Its motion behavior is described by a partial differential equation whose input function is assumed to be periodic. An estimator is used on one hand to predict future model states based on reconstruction of the input function and on the other hand to incorporate noisy spatially discrete measurements in order to improve state estimation. The model-based motion estimation is evaluated using a simple heart simulator. Measurements are obtained by reconstructing 3D position of markers on a pulsating membrane by means of a stereo camera system.}, address = {Rome, Italy}, author = {Thomas Bader and Alexander Wiedemann and Kathrin Roberts and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2007 IEEE International Conference on Robotics and Automation (ICRA 2007)}, doi = {10.1109/ROBOT.2007.363656}, month = {April}, pages = {2261--2266}, pdf = {ICRA07_Bader.pdf}, title = {Model--based Motion Estimation of Elastic Surfaces for Minimally Invasive Cardiac Surgery}, year = {2007} }  Marco F. Huber, Uwe D. Hanebeck, Hybrid Transition Density Approximation for Efficient Recursive Prediction of Nonlinear Dynamic Systems,International Conference on Information Processing in Sensor Networks (IPSN 2007), pp. 283–292, Cambridge, Massachusetts, USA, April, 2007. BibTeX: @inproceedings{IPSN07_Huber, abstract = {For several tasks in sensor networks, such as localization, information fusion, or sensor scheduling, Bayesian estimation is of paramount importance. Due to the limited computational and memory resources of the nodes in a sensor network, evaluation of the prediction step of the Bayesian estimator has to be performed very efficiently. An exact and closed-form representation of the predicted probability density function of the system state is typically impossible to obtain, since exactly solving the prediction step for nonlinear discrete-time dynamic systems in closed form is unfeasible. Assuming additive noise, we propose an accurate approximation of the predicted density, that can be calculated efficiently by optimally approximating the transition density using a hybrid density. A hybrid density consists of two different density types: Dirac delta functions that cover the domain of the current density of the system state, and another density type, e.g. Gaussian densities, that cover the domain of the predicted density. The freely selectable, second density type of the hybrid density depends strongly on the noise affecting the nonlinear system. So, the proposed approximation framework for nonlinear prediction is not restricted to a specific noise density. It further allows an analytical evaluation of the Chapman-Kolmogorov prediction equation and can be interpreted as a deterministic sampling estimation approach. In contrast to methods using random sampling like particle filters, a dramatic reduction in the number of components and a subsequent decrease in computation time for approximating the predicted density is gained.}, address = {Cambridge, Massachusetts, USA}, author = {Marco F. Huber and Uwe D. Hanebeck}, booktitle = {International Conference on Information Processing in Sensor Networks (IPSN 2007)}, keywords = {System Approximation, Hybrid Density}, month = {April}, pages = {283--292}, pdf = {IPSN2007_Huber.pdf}, title = {Hybrid Transition Density Approximation for Efficient Recursive Prediction of Nonlinear Dynamic Systems}, year = {2007} }  Dietrich Brunn, Felix Sawo, Uwe D. Hanebeck, Modellbasierte Vermessung verteilter Phänomene und Generierung optimaler Messsequenzen,Informationsfusion in der Mess- und Sensortechnik, 3:75–90, Universitätsverlag Karlsruhe, March, 2007. BibTeX: @article{ITM07_BrunnSawo, abstract = {Dieser Beitrag befasst sich mit modellbasierten Methoden zur Vermessung verteilter physikalischer Phänomene. Diese Methoden zeichnen sich durch eine systematische Behandlung von Unsicherheiten aus, so dass neben der Rekonstruktion der vollständigen Wahrscheinlichkeitsdichte der relevanten Grö\ssen aus einer geringen Anzahl von zeit-, orts- und wertdiskreten Messungen auch die Generierung optimaler Messsequenzen möglich ist. Es wird dargestellt, wie eine Beschreibung für ein verteilt"=parametrisches System in Form einer partiellen Differentialgleichung, welche einen unendlich-dimensionalen Zustandsraum beschreibt, in eine konzentriert-parametrische Form konvertiert wird. Diese kann als Grundlage für den Entwurf klassischer Schätzer, wie z. B. des Kalman-Filters, dienen. Ferner wird eine Methode zur Sensoreinsatzplanung vorgestellt, mit der eine optimale Sequenz von Messparametern bestimmt werden kann, um mit einem minimalen Messaufwand die Unsicherheit auf ein gewünschtes Ma\ss zu reduzieren. Die Anwendung dieser Methoden wird an zwei Beispielen, einer Temperaturverteilung und der Verformung einer Führungsschiene, demonstriert. Zusätzlich werden die Herausforderungen bei der Behandlung nichtlinearer Systeme und die Probleme bei der dezentralen Verarbeitung, wie sie typischerweise beim Einsatz von Sensornetzwerken auftreten, diskutiert.}, author = {Dietrich Brunn and Felix Sawo and Uwe D. Hanebeck}, booktitle = {Informationsfusion in der Mess- und Sensortechnik}, editor = {Jürgen Beyerer and Fernando Puente León and Klaus-Dieter Sommer}, journal = {tm - Technisches Messen, Oldenbourg Verlag}, month = {March}, pages = {75--90}, pdf = {ITM07_BrunnSawo.pdf}, publisher = {Universitätsverlag Karlsruhe}, title = {Modellbasierte Vermessung verteilter Phänomene und Generierung optimaler Messsequenzen}, volume = {3}, year = {2007} }  Hui Wang, Henning Lenz, Andrei Szabo, Joachim Bamberger, Uwe D. Hanebeck, WLAN–Based Pedestrian Tracking Using Particle Filters and Low–Cost MEMS Sensors,Workshop on Positioning, Navigation and Communication, (WPNC 2007), Hannover, Germany, March, 2007. BibTeX: @inproceedings{WPNC07_Wang, abstract = {Indoor positioning systems based on Wireless LAN (WLAN) are being widely investigated in academia and industry. Meanwhile, the emerging low-cost MEMS sensors can also be used as another independent positioning source. In this paper, we propose a pedestrian tracking framework based on particle filters, which extends the typical WLAN-based indoor positioning systems by integrating low-cost MEMS accelerometer and map information. Our simulation and real world experiments indicate a remarkable performance improvement by using this fusion framework.}, address = {Hannover, Germany}, author = {Hui Wang and Henning Lenz and Andrei Szabo and Joachim Bamberger and Uwe D. Hanebeck}, booktitle = {Workshop on Positioning, Navigation and Communication, (WPNC 2007)}, month = {March}, pdf = {WPNC07_Wang.pdf}, title = {WLAN--Based Pedestrian Tracking Using Particle Filters and Low--Cost MEMS Sensors}, year = {2007} }  2006 Dietrich Brunn, Felix Sawo, Uwe D. Hanebeck, Nonlinear Multidimensional Bayesian Estimation with Fourier Densities,Proceedings of the 2006 IEEE Conference on Decision and Control (CDC 2006), pp. 1303–1308, San Diego, California, USA, December, 2006. BibTeX: @inproceedings{CDC06_Brunn-Fourier, abstract = {Efficiently implementing nonlinear Bayesian estimators is still an unsolved problem, especially for the multidimensional case. A trade-off between estimation quality and demand on computational resources has to be found. Using multidimensional Fourier series as representation for probability density functions, so called Fourier densities, is proposed. To ensure non-negativity, the approximation is performed indirectly via Psi-densities, of which the absolute square represent the Fourier density. It is shown that PSI-densities can be determined using the efficient fast Fourier transform algorithm and their coefficients have an ordering with respect to the Hellinger metric. Furthermore, the multidimensional Bayesian estimator based on Fourier Densities is derived in closed form. That allows an efficient realization of the Bayesian estimator where the demands on computational resources are adjustable.}, address = {San Diego, California, USA}, author = {Dietrich Brunn and Felix Sawo and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2006 IEEE Conference on Decision and Control (CDC 2006)}, month = {December}, pages = {1303--1308}, pdf = {CDC06_Brunn-Fourier.pdf}, title = {Nonlinear Multidimensional Bayesian Estimation with Fourier Densities}, year = {2006} }  Oliver C. Schrempf, Dietrich Brunn, Uwe D. Hanebeck, Density Approximation Based on Dirac Mixtures with Regard to Nonlinear Estimation and Filtering,Proceedings of the 2006 IEEE Conference on Decision and Control (CDC 2006), San Diego, California, USA, December, 2006. BibTeX: @inproceedings{CDC06_Schrempf-DiracMixt, abstract = {A deterministic procedure for optimal approximation of arbitrary probability density functions by means of Dirac mixtures with equal weights is proposed. The optimality of this approximation is guaranteed by minimizing the distance of the approximation from the true density. For this purpose a distance measure is required, which is in general not well defined for Dirac mixtures. Hence, a key contribution is to compare the corresponding cumulative distribution functions. This paper concentrates on the simple and intuitive integral quadratic distance measure. For the special case of a Dirac mixture with equally weighted components, closed-form solutions for special types of densities like uniform and Gaussian densities are obtained. Closed-form solution of the given optimization problem is not possible in general. Hence, another key contribution is an efficient solution procedure for arbitrary true densities based on a homotopy continuation approach. In contrast to standard Monte Carlo techniques like particle filters that are based on random sampling, the proposed approach is deterministic and ensures an optimal approximation with respect to a given distance measure. In addition, the number of required components (particles) can easily be deduced by application of the proposed distance measure. The resulting approximations can be used as basis for recursive nonlinear filtering mechanism alternative to Monte Carlo methods.}, address = {San Diego, California, USA}, author = {Oliver C. Schrempf and Dietrich Brunn and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2006 IEEE Conference on Decision and Control (CDC 2006)}, keywords = {Dirac Mixtures}, month = {December}, pdf = {CDC06_Schrempf-DiracMixt.pdf}, title = {Density Approximation Based on Dirac Mixtures with Regard to Nonlinear Estimation and Filtering}, year = {2006} }  Felix Sawo, Dietrich Brunn, Uwe D. Hanebeck, Parameterized Joint Densities with Gaussian Mixture Marginals and their Potential Use in Nonlinear Robust Estimation,Proceedings of the 2006 IEEE International Conference on Control Applications (CCA 2006), Munich, Germany, October, 2006. BibTeX: @inproceedings{CCA06_Sawo-ParameterizedGM, abstract = {This paper addresses the challenges of the fusion of two random vectors with imprecisely known stochastic dependency. This problem mainly occurs in decentralized estimation, e.g. of a distributed phenomenon, where the stochastic dependencies between the individual states are not stored. To cope with such problems we propose to exploit parameterized joint densities with both Gaussian marginals and Gaussian mixture marginals. Under structural assumptions these parameterized joint densities contain all information about the stochastic dependencies between their marginal densities in terms of a generalized correlation parameter vector xi. The parameterized joint densities are applied to the prediction step and the measurement step under imprecisely known correlation leading to a whole family of possible estimation results. The resulting density functions are characterized by the generalized correlation parameter vector xi. Once this structure and the bounds of these parameters are known, it is possible to find bounding densities containing all possible density functions, i.e., conservative estimation results.}, address = {Munich, Germany}, author = {Felix Sawo and Dietrich Brunn and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2006 IEEE International Conference on Control Applications (CCA 2006)}, month = {October}, pdf = {CCA06_Sawo-ParameterizedGM.pdf}, title = {Parameterized Joint Densities with Gaussian Mixture Marginals and their Potential Use in Nonlinear Robust Estimation}, year = {2006} }  Patrick Rö\ssler, Oliver C. Schrempf, Uwe D. Hanebeck, Stochastic Prediction of Waypoints for Extended-Range Telepresence Applications,2nd International Workshop on Human Centered Robotic Systems (HCRS 2006), pp. 85–89, Munich, Germany, October, 2006. BibTeX: @inproceedings{HCRS06_RoesslerSchrempf, abstract = {The Motion Compression framework for extended range telepresence applications consists of three functional modules: path prediction, path transformation, and user guidance. This paper presents a new path prediction module for known environments that exploits the property, that humans typically walk on straight paths toward discrete goal objects. In order to estimate the user's goal object out of a set of possible goals, we derived a Bayesian filter that gives this discrete estimate based on continuous measurements of the user's head pose.}, address = {Munich, Germany}, author = {Patrick Rö\ssler and Oliver C. Schrempf and Uwe D. Hanebeck}, booktitle = {2nd International Workshop on Human Centered Robotic Systems (HCRS 2006)}, month = {October}, pages = {85--89}, pdf = {HCRS06_RoesslerSchrempf.pdf}, title = {Stochastic Prediction of Waypoints for Extended-Range Telepresence Applications}, year = {2006} }  Andreas J. Schmid, Oliver C. Schrempf, Heinz Wörn, Uwe D. Hanebeck, Towards Intuitive Human-Robot Cooperation,2nd International Workshop on Human Centered Robotic Systems (HCRS 2006), pp. 7–12, Munich, Germany, October, 2006. BibTeX: @inproceedings{HCRS06_SchrempfSchmid, abstract = {Human-robot cooperation calls for the treatment of human-machine communication channels, especially if humanoid robots are involved. In this paper, we consider implicit nonverbal channels given by recognizing the partner's intention and proactive execution of tasks. We propose a method that keeps the human in the loop and allows for the systematic reduction of uncertainty inherent in implicit cooperation. We present a benchmark scenario as well as preliminary implementation results.}, address = {Munich, Germany}, author = {Andreas J. Schmid and Oliver C. Schrempf and Heinz Wörn and Uwe D. Hanebeck}, booktitle = {2nd International Workshop on Human Centered Robotic Systems (HCRS 2006)}, month = {October}, pages = {7--12}, pdf = {HCRS06_SchrempfSchmid.pdf}, title = {Towards Intuitive Human-Robot Cooperation}, year = {2006} }  Patrick Rö\ssler, Uwe D. Hanebeck, Simultaneous Motion Compression for Multi–User Extended Range Telepresence,Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006), pp. 5189–5194, Beijing, China, October, 2006. BibTeX: @inproceedings{IROS06_Roessler, abstract = {Extended range telepresence allows a human user to intuitively teleoperate a mobile robot through arbitrarily large remote environments by natural walking. In order to give the user the possibility to navigate the robot through an arbitrarily large remote environments, while his own environment is of limited size, Motion Compression is used. The Motion Compression framework provides a nonlinear transformation between the user's path and the robot's path, which preserves path length and turning angles. There is, however, a difference in path curvature, which is minimized in order to guarantee a high degree of immersion. A major drawback of the current system is its inability to deal with non-convex time-variant environments or environments shared by multiple users. This paper presents a systematic approach to extending Motion Compression to non-convex environments. This solution will then be used to cover the multi-user case.}, address = {Beijing, China}, author = {Patrick Rö\ssler and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006)}, doi = {10.1109/IROS.2006.281656}, month = {October}, pages = {5189--5194}, pdf = {IROS06_Roessler.pdf}, title = {Simultaneous Motion Compression for Multi--User Extended Range Telepresence}, year = {2006} }  Dietrich Brunn, Felix Sawo, Uwe D. Hanebeck, Informationsfusion für verteilte Systeme,Informationsfusion in der Mess- und Sensortechnik, pp. 75–90, Universitätsverlag Karlsruhe, September, 2006. BibTeX: @incollection{IMS06_BrunnSawo, abstract = {Dieser Beitrag befasst sich mit modellbasierten Methoden zur Vermessung verteilter physikalischer Phänomene. Diese Methoden zeichnen sich durch eine systematische Behandlung stochastischer Unsicherheiten aus, so dass neben der Rekonstruktion der vollständigen Wahrscheinlichkeitsdichte der relevanten Grö\ssen aus einer geringen Anzahl von zeit-, orts- und wertdiskreten Messungen auch die Generierung optimaler Messsequenzen möglich ist. Es wird dargestellt, wie eine Beschreibung für ein verteilt"=parametrisches System in Form einer partiellen Differentialgleichung, welche einen unendlich"=dimensionalen Zustandsraum beschreibt, in eine konzentriert"=parametrische Form konvertiert wird. Diese kann als Grundlage für den Entwurf klassischer Schätzer, wie z.B. des Kalman Filters, dienen. Ferner wird eine Methode zur Sensoreinsatzplanung vorgestellt, mit der eine optimale Sequenz von Messparametern bestimmt werden kann, um mit einem minimalen Messaufwand die Unsicherheit auf ein gewünschtes Ma\ss zu reduzieren. Die Anwendung dieser Methoden wird an zwei Beispielen, einer Temperaturverteilung und der Verformung einer Führungsschiene, demonstriert. Zusätzlich werden die Herausforderungen bei der Behandlung nichtlinearer Systeme und die Probleme bei der dezentralen Verarbeitung, wie sie typischerweise beim Einsatz von Sensornetzwerken auftreten, diskutiert.}, author = {Dietrich Brunn and Felix Sawo and Uwe D. Hanebeck}, booktitle = {Informationsfusion in der Mess- und Sensortechnik}, editor = {Jürgen Beyerer and Fernando Puente León and Klaus-Dieter Sommer}, month = {September}, pages = {75--90}, pdf = {IMS06_BrunnSawo.pdf}, publisher = {Universitätsverlag Karlsruhe}, title = {Informationsfusion für verteilte Systeme}, year = {2006} }  Frederik Beutler, Uwe D. Hanebeck, The Probabilistic Instantaneous Matching Algorithm,Proceedings of the 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2006), pp. 311–316, Heidelberg, Germany, September, 2006. BibTeX: @inproceedings{MFI06_Beutler, abstract = {A new Bayesian filtering technique for estimating signal parameters directly from discrete-time sequences is introduced. The so called probabilistic instantaneous matching algorithm recursively updates the probability density function of the parameters for every received sample and, thus, provides a high update rate up to the sampling rate with high accuracy. In order to do so, one of the signal sequences is used as part of a time-variant nonlinear measurement equation. Furthermore, the time-variant nature of the parameters is explicitly considered via a system equation, which describes the evolution of the parameters over time. An important feature of the probabilistic instantaneous matching algorithm is that it provides a probability density function over the parameter space instead of a single point estimate. This probability density function can be used in further processing steps, e.g. a range based localization algorithm in the case of time-of-arrival estimation.}, address = {Heidelberg, Germany}, author = {Frederik Beutler and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2006)}, month = {September}, pages = {311--316}, pdf = {MFI06_Beutler.pdf}, title = {The Probabilistic Instantaneous Matching Algorithm}, year = {2006} }  Dietrich Brunn, Felix Sawo, Uwe D. Hanebeck, Efficient Nonlinear Bayesian Estimation based on Fourier Densities,Proceedings of the 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2006), pp. 312–322, Heidelberg, Germany, September, 2006. BibTeX: @inproceedings{MFI06_Brunn-Fourier, abstract = {Efficiently implementing nonlinear Bayesian estimators is still not a fully solved problem. For practical applications, a trade-off between estimation quality and demand on computational resources has to be found. In this paper, the use of nonnegative Fourier series, so-called Fourier densities, for Bayesian estimation is proposed. By using the absolute square of Fourier series for the density representation, it is ensured that the density stays nonnegative. Nonetheless, approximation of arbitrary probability density functions can be made by using the Fourier integral formula. An efficient Bayesian estimator algorithm with constant complexity for nonnegative Fourier series is derived and demonstrated by means of an example.}, address = {Heidelberg, Germany}, author = {Dietrich Brunn and Felix Sawo and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2006)}, month = {September}, pages = {312--322}, pdf = {MFI06_Brunn-Fourier.pdf}, title = {Efficient Nonlinear Bayesian Estimation based on Fourier Densities}, year = {2006} }  Marc P. Deisenroth, Toshiyuki Ohtsuka, Florian Weissel, Dietrich Brunn, Uwe D. Hanebeck, Finite-Horizon Optimal State-Feedback Control of Nonlinear Stochastic Systems Based on a Minimum Principle,Proceedings of the 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2006), pp. 371–376, Heidelberg, Germany, September, 2006. BibTeX: @inproceedings{MFI06_DeisenrothWeissel, abstract = {In this paper, an approach to the finite-horizon optimal state-feedback control problem of nonlinear, stochastic, discrete-time systems is presented. Starting from the dynamic equation, the value function will be approximated by means of Taylor series expansion up to second-order derivatives. Moreover, the problem will be reformulated, such that a minimum principle can be applied to the stochastic problem. Employing this minimum principle, the optimal control problem can be rewritten as a two-point boundary-value problem to be solved at each time step of a shrinking horizon. To avoid numerical problems, the two-point boundary-value problem will be solved by means of a continuation method. Thus, the curse of dimensionality of dynamic programming is avoided, and good candidates for the optimal state-feedback controls are obtained. The proposed approach will be evaluated by means of a scalar example system.}, address = {Heidelberg, Germany}, author = {Marc P. Deisenroth and Toshiyuki Ohtsuka and Florian Weissel and Dietrich Brunn and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2006)}, month = {September}, pages = {371--376}, pdf = {MFI06_DeisenrothWeissel.pdf}, title = {Finite-Horizon Optimal State-Feedback Control of Nonlinear Stochastic Systems Based on a Minimum Principle}, year = {2006} }  Marco Huber, Dietrich Brunn, Uwe D. Hanebeck, Closed-Form Prediction of Nonlinear Dynamic Systems by Means of Gaussian Mixture Approximation of the Transition Density,Proceedings of the 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2006), pp. 98–103, Heidelberg, Germany, September, 2006. BibTeX: @inproceedings{MFI06_Huber, abstract = {Recursive prediction of the state of a nonlinear stochastic dynamic system cannot be efficiently performed in general, since the complexity of the probability density function characterizing the system state increases with every prediction step. Thus, representing the density in an exact closed-form manner is too complex or even impossible. So, an appropriate approximation of the density is required. Instead of directly approximating the predicted density, we propose the approximation of the transition density by means of Gaussian mixtures. We treat the approximation task as an optimization problem that is solved offline via progressive processing to bypass initialization problems and to achieve high quality approximations. Once having calculated the transition density approximation offline, prediction can be performed efficiently resulting in a closed-form density representation with constant complexity.}, address = {Heidelberg, Germany}, author = {Marco Huber and Dietrich Brunn and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2006)}, keywords = {System Approximation, Gaussian Mixtures}, month = {September}, pages = {98--103}, pdf = {MFI06_Huber.pdf}, title = {Closed-Form Prediction of Nonlinear Dynamic Systems by Means of Gaussian Mixture Approximation of the Transition Density}, year = {2006} }  Oliver C. Schrempf, Dietrich Brunn, Uwe D. Hanebeck, Dirac Mixture Density Approximation Based on Minimization of the Weighted Cramér-von Mises Distance,Proceedings of the 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2006), pp. 512–517, Heidelberg, Germany, September, 2006. BibTeX: @inproceedings{MFI06_Schrempf-CramerMises, abstract = {This paper proposes a systematic procedure for approximating arbitrary probability density functions by means of Dirac mixtures. For that purpose, a distance measure is required, which is in general not well defined for Dirac mixture densities. Hence, a distance measure comparing the corresponding cumulative distribution functions is employed. Here, we focus on the weighted Cramer-von Mises distance, a weighted integral quadratic distance measure, which is simple and intuitive. Since a closed-form solution of the given optimization problem is not possible in general, an efficient solution procedure based on a homotopy continuation approach is proposed. Compared to a standard particle approximation, the proposed procedure ensures an optimal approximation with respect to a given distance measure. Although useful in their own respect, the results also provide the basis for a recursive nonlinear filtering mechanism as an alternative to the popular particle filters.}, address = {Heidelberg, Germany}, author = {Oliver C. Schrempf and Dietrich Brunn and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2006)}, keywords = {Dirac Mixtures}, month = {September}, pages = {512--517}, pdf = {MFI06_Schrempf-CramerMises.pdf}, title = {Dirac Mixture Density Approximation Based on Minimization of the Weighted Cramér-von Mises Distance}, year = {2006} }  Hui Wang, Henning Lenz, Andrei Szabo, Uwe D. Hanebeck, Joachim Bamberger, Fusion of Barometric Sensors, WLAN Signals and Building Information for 3–D Indoor/Campus Localization,Proceedings of the 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2006), pp. 426–432, Heidelberg, Germany, September, 2006. BibTeX: @inproceedings{MFI06_Wang, abstract = {Location estimation in indoor/campus environments has attracted much interest for its broad applications. Many applications (e.g. personnel security) require not only the 2-D coordinate but also the floor index where the mobile users are situated. However, most of the current location systems cannot provide the floor information accurately and robustly. In this paper, we propose a 3-D localization scheme which fuses the barometric sensor with Wireless LAN (WLAN) signals and building information. Our experiments show that this fusion scheme can both identify the floor index without errors and improve the horizontal localization accuracy. Moreover, since the barometric sensor is quite simple and cheap, it would bring almost no increase in system costs.}, address = {Heidelberg, Germany}, author = {Hui Wang and Henning Lenz and Andrei Szabo and Uwe D. Hanebeck and Joachim Bamberger}, booktitle = {Proceedings of the 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2006)}, month = {September}, pages = {426--432}, pdf = {MFI06_Wang.pdf}, title = {Fusion of Barometric Sensors, WLAN Signals and Building Information for 3--D Indoor/Campus Localization}, year = {2006} }  Leonidas J. Guibas and Uwe D. Hanebeck and Thomas C. Henderson (Eds.), Form and Content in Sensor Networks, 18.09. - 23.09.2005,Form and Content in Sensor Networks, Internationales Begegnungs- und Forschungszentrum für Informatik (IBFI), Schloss Dagstuhl, Germany, Internationales Begegnungs- und Forschungszentrum für Informatik (IBFI), Schloss Dagstuhl, Germany, September, 2006. BibTeX: @proceedings{DBLP:conf/dagstuhl/2005P5381, abstract = {From 18.09.05 to 23.09.05, the Dagstuhl Seminar 05381 Form and Content in Sensor Networks was held in the International Conference and Research Center (IBFI), Schloss Dagstuhl. During the seminar, several participants presented their current research, and ongoing work and open problems were discussed. Abstracts of the presentations given during the seminar as well as abstracts of seminar results and ideas are put together in this paper. The first section describes the seminar topics and goals in general. Links to extended abstracts or full papers are provided, if available.}, address = {Internationales Begegnungs- und Forschungszentrum für Informatik (IBFI), Schloss Dagstuhl, Germany}, bibsource = {DBLP, http://dblp.uni-trier.de}, booktitle = {Form and Content in Sensor Networks}, editor = {Leonidas J. Guibas and Uwe D. Hanebeck and Thomas C. Henderson}, month = {September}, pdf = {05381_abstracts_collection.755.pdf}, publisher = {Internationales Begegnungs- und Forschungszentrum für Informatik (IBFI), Schloss Dagstuhl, Germany}, series = {Dagstuhl Seminar Proceedings}, title = {Form and Content in Sensor Networks, 18.09. - 23.09.2005}, url = {http://drops.dagstuhl.de/portals/05381/}, volume = {05381}, year = {2006} }  Patrick Rö\ssler, Timothy Armstrong, Oliver Hessel, Michael Mende, Uwe D. Hanebeck, A Novel Haptic Interface for Free Locomotion in Extended Range Telepresence Scenarios,Proceedings of the 3rd International Conference on Informatics in Control, Automation and Robotics (ICINCO 2006), pp. 148–153, Setúbal, Portugal, August, 2006. BibTeX: @inproceedings{ICINCO06_Roessler, abstract = {Telepresence gives a user the impression of actually being present in a distant environment. A mobile teleoperator acts as a proxy in this target environment, replicates the user's motion, and records sensory information, which is transferred to the user and displayed in real-time. As a result the user is immersed in the target environment. The user can then control the teleoperator by walking naturally. Motion Compression, a nonlinear mapping between the user's and the robot's motion, allows exploration of large target environments even from small user environments. For manipulation tasks haptic feedback is important. However, current haptic displays do not allow wide-area motion. In this work we present our design of a novel haptic display for simultaneous wide area motion and haptic interaction.}, address = {Setúbal, Portugal}, author = {Patrick Rö\ssler and Timothy Armstrong and Oliver Hessel and Michael Mende and Uwe D. Hanebeck}, booktitle = {Proceedings of the 3rd International Conference on Informatics in Control, Automation and Robotics (ICINCO 2006)}, month = {August}, pages = {148--153}, pdf = {ICINCO06_Roessler.pdf}, title = {A Novel Haptic Interface for Free Locomotion in Extended Range Telepresence Scenarios}, year = {2006} }  Felix Sawo, Kathrin Roberts, Uwe D. Hanebeck, Bayesian Estimation of Distributed Phenomena using Discretized Representations of Partial Differential Equations,Proceedings of the 3rd International Conference on Informatics in Control, Automation and Robotics (ICINCO 2006), pp. 16–23, Setúbal, Portugal, August, 2006. BibTeX: @inproceedings{ICINCO06_SawoRoberts, abstract = {This paper addresses a systematic method for the reconstruction and the prediction of a distributed phenomenon characterized by partial differential equations, which is monitored by a sensor network. In the first step, the infinite-dimensional partial differential equation, i.e. distributed-parameter system, is spatially and temporally decomposed leading to a finite-dimensional state space form. In the next step, the state of the resulting lumped-parameter system, which provides an approximation of the solution of the underlying partial differential equations, is dynamically estimated under consideration of uncertainties both occurring in the system and arising from noisy measurements. By using the estimation results, several additional tasks can be achieved by the sensor network, e.g. optimal sensor placement, optimal scheduling, and model improvement. The performance of the proposed model-based reconstruction method is demonstrated by means of simulations.}, address = {Setúbal, Portugal}, author = {Felix Sawo and Kathrin Roberts and Uwe D. Hanebeck}, booktitle = {Proceedings of the 3rd International Conference on Informatics in Control, Automation and Robotics (ICINCO 2006)}, month = {August}, pages = {16--23}, pdf = {ICINCO06_SawoRoberts.pdf}, title = {Bayesian Estimation of Distributed Phenomena using Discretized Representations of Partial Differential Equations}, year = {2006} }  Vesa Klumpp, Dietrich Brunn, Uwe D. Hanebeck, Approximate Nonlinear Bayesian Estimation Based on Lower and Upper Densities,Proceedings of the 9th International Conference on Information Fusion (Fusion 2006), Florence, Italy, July, 2006. BibTeX: @inproceedings{Fusion06_Klumpp, abstract = {Recursive calculation of the probability density function characterizing the state estimate of a nonlinear stochastic dynamic system in general cannot be performed exactly, since the type of the density changes with every processing step and the complexity increases. Hence, an approximation of the true density is required. Instead of using a single complicated approximating density, this paper is concerned with bounding the true density from below and from above by means of two simple densities. This provides a kind of guaranteed estimator with respect to the underlying true density, which requires a mechanism for ordering densities. Here, a partial ordering with respect to the cumulative distributions is employed. Based on this partial ordering, a modified Bayesian filter step is proposed, which recursively propagates lower and upper density bounds. A specific implementation for piecewise linear densities with finite support is used for demonstrating the performance of the new approach in simulations.}, address = {Florence, Italy}, author = {Vesa Klumpp and Dietrich Brunn and Uwe D. Hanebeck}, booktitle = {Proceedings of the 9th International Conference on Information Fusion (Fusion 2006)}, month = {July}, pdf = {Fusion06_Klumpp.pdf}, review = {Dieses Paper behandelt die Ideen zu Behandlung von Mengen von Wahrscheinlichkeitsdichten. Es entstand im Rahmen der Diplomarbeit von V.Klumpp.}, title = {Approximate Nonlinear Bayesian Estimation Based on Lower and Upper Densities}, year = {2006} }  Felix Sawo, Dietrich Brunn, Uwe D. Hanebeck, Parameterized Joint Densities with Gaussian and Gaussian Mixture Marginals,Proceedings of the 9th International Conference on Information Fusion (Fusion 2006), Florence, Italy, July, 2006. BibTeX: @inproceedings{Fusion06_Sawo-ParameterizedGMs, abstract = {In this paper we attempt to lay the foundation for a novel filtering technique for the fusion of two random vectors with imprecisely known stochastic dependency. This problem mainly occurs in decentralized estimation, e.g., of a distributed phenomenon, where the stochastic dependencies between the individual states are not stored. Thus, we derive parameterized joint densities with both Gaussian marginals and Gaussian mixture marginals. These parameterized joint densities contain all information about the stochastic dependencies between their marginal densities in terms of a parameter vector xi, which can be regarded as a generalized correlation parameter. Unlike the classical correlation coeffcient, this parameter is a suffcient measure for the stochastic dependency even characterized by more complex density functions such as Gaussian mixtures. Once this structure and the bounds of these parameters are known, bounding densities containing all possible density functions could be found.}, address = {Florence, Italy}, author = {Felix Sawo and Dietrich Brunn and Uwe D. Hanebeck}, booktitle = {Proceedings of the 9th International Conference on Information Fusion (Fusion 2006)}, month = {July}, pdf = {Fusion06_Sawo-ParameterizedGMs.pdf}, title = {Parameterized Joint Densities with Gaussian and Gaussian Mixture Marginals}, year = {2006} }  Oliver C. Schrempf, Anne Hanselmann, Uwe D. Hanebeck, Efficient Representation and Fusion of Hybrid Joint Densities for Clusters in Nonlinear Hybrid Bayesian Networks,Proceedings of the 9th International Conference on Information Fusion (Fusion 2006), Florence, Italy, July, 2006. BibTeX: @inproceedings{Fusion06_SchrempfHanselmann, abstract = {Undirected cycles in Bayesian networks are often treated by using clustering methods. This results in networks with nodes characterized by joint probability densities instead of marginal densities. An efficient representation of these hybrid joint densities is essential especially in nonlinear hybrid networks containing continuous as well as discrete variables. In this article we present a unified representation of continuous, discrete, and hybrid joint densities. This representation is based on Gaussian and Dirac mixtures and allows for analytic evaluation of arbitrary hybrid networks without loosing structural information, even for networks containing clusters. Furthermore we derive update formulae for marginal and joint densities from a system theoretic point of view by treating a Bayesian network as a system of cascaded subsystems. Together with the presented mixture representation of densities this yields an exact analytic updating scheme.}, address = {Florence, Italy}, author = {Oliver C. Schrempf and Anne Hanselmann and Uwe D. Hanebeck}, booktitle = {Proceedings of the 9th International Conference on Information Fusion (Fusion 2006)}, keywords = {Hybrid Bayesian Networks}, month = {July}, pdf = {Fusion06_SchrempfHanselmann.pdf}, title = {Efficient Representation and Fusion of Hybrid Joint Densities for Clusters in Nonlinear Hybrid Bayesian Networks}, year = {2006} }  2005 Andreas Rauh, Uwe D. Hanebeck, Moment–Based Prediction Step for Nonlinear Discrete-Time Dynamic Systems Using Exponential Densities,Proceedings of the 44th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2005), Sevilla, Spain, December, 2005. BibTeX: @inproceedings{ECC05_Rauh, abstract = {In this paper, an efficient approach for a momentbased Bayesian prediction step for both linear and nonlinear discrete-time dynamic systems using exponential densities with polynomial exponents is proposed. The exact solution of the prediction step is approximated by an exponential density which minimizes the Kullback-Leibler distance. Compared to other approaches, the user of this procedure can specify the approximation quality by controlling the deviation between the moments of the exact and the approximated solution. Furthermore, this algorithm can also be used for the adaptation of the order of the exponential densities either to improve the approximation quality or to reduce the computational effort.}, address = {Sevilla, Spain}, author = {Andreas Rauh and Uwe D. Hanebeck}, booktitle = {Proceedings of the 44th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2005)}, month = {December}, pdf = {ECC05_Rauh.pdf}, title = {Moment--Based Prediction Step for Nonlinear Discrete-Time Dynamic Systems Using Exponential Densities}, year = {2005} }  Henning Groenda, Fabian Nowak, Patrick Rö\ssler, Uwe D. Hanebeck, Telepresence Techniques for Controlling Avatar Motion in First Person Games,Intelligent Technologies for Interactive Entertainment (INTETAIN 2005), Madonna di Campiglio, Italy, November, 2005. BibTeX: @inproceedings{INTETAIN05_Groenda, abstract = {First person games are computer games, in which the user experiences the virtual game world from an avatar's view. This avatar is the user's alter ego in the game. In this paper, we present a telepresence interface for the first person game Quake III Arena, which gives the user the impression of presence in the game and thus leads to identification with his avatar. This is achieved by tracking the user's motion and using this motion data as control input for the avatar. As the user is wearing a head-mounted display and he perceives his actions affecting the virtual environment, he fully immerses into the target environment. Without further processing of the user's motion data, the virtual environment would be limited to the size of the user's real environment, which is not desirable. The use of Motion Compression, however, allows exploring an arbitrarily large virtual environment while the user is actually moving in an environment of limited size.}, address = {Madonna di Campiglio, Italy}, author = {Henning Groenda and Fabian Nowak and Patrick Rö\ssler and Uwe D. Hanebeck}, booktitle = {Intelligent Technologies for Interactive Entertainment (INTETAIN 2005)}, month = {November}, pdf = {INTETAIN05_Groenda.pdf}, title = {Telepresence Techniques for Controlling Avatar Motion in First Person Games}, year = {2005} }  Kathrin Roberts, Gabór Szab\ ́and Uwe D. Hanebeck, Sensorgestützte Bewegungssynchronisation von Operationsinstrumenten am schlagenden Herzen,Autonome Mobile Systeme 2005 (AMS 2005), 19. Fachgespräch, Stuttgart, Informatik Aktuell, pp. 269–275, Springer, October, 2005. BibTeX: @incollection{AMS05_RobertsSzabo, abstract = {Offene oder minimal invasive Operationen am schlagenden Herzen erfordern von dem Chirurgen eine hohe Konzentrationsfähigkeit über einen längeren Zeitraum. Daher ist es für den Chirurgen sehr hilfreich durch ein robotergestütztes Chirurgiesystem unterstützt zu werden, das die Instrumente im Interventionsareal mit der Herzbewegung synchronisiert. Um eine Bewegungskompensation durchzuführen, muss ein Mechanismus gefunden werden, der aufgrund einer Prädiktion der Herzbewegung die Instrumente nachführt. Für die Prädiktion der Herzbewegung wird in diesem Artikel ein Verfahren zum Entwurf eines stochastischen 3D-Bewegungsmodells für die Herzoberfläche gezeigt. Ein Schätzer nimmt dieses Modell als Grundlage und verwendet die verrauschten Sensormessungen von Landmarken der Herzoberfläche um die Herzoberflächenbewegung zu prädizieren.}, author = {Kathrin Roberts and Gabór Szab\ ́and Uwe D. Hanebeck}, booktitle = {Autonome Mobile Systeme 2005 (AMS 2005), 19.~Fachgespräch, Stuttgart, Informatik Aktuell}, editor = {P. Levi and M. Schanz and R. Lafrenz and V. Avrutin}, month = {October}, pages = {269-275}, pdf = {InfoAktuell05_RobertsSzabo.pdf}, publisher = {Springer}, title = {Sensorgestützte Bewegungssynchronisation von Operationsinstrumenten am schlagenden Herzen}, year = {2005} }  Kai Briechle, Uwe D. Hanebeck, Lokalisierung mittels mengenbasierter nichtlinearer Filterung im Hyperraum,at - Automatisierungstechnik, 53:415–424, Oldenbourg Verlag, September, 2005. BibTeX: @article{AT05_Briechle, abstract = {In recent years methods for localization of objects have found widespread use as the basis for numerous novel technical applications. The majority of these methods are based on filtering algorithms which are used to estimate the position and orientation of the object that shall be localized. In this article, a novel efficient nonlinear filtering concept is presented. It is well suited for localization problems for which conventional filtering algorithms based on linearization do not yield satisfactory results. The performance of the proposed algorithm is demonstrated by applications to prototypical localization problems and an experiment, in which a mobile robot is localized.}, author = {Kai Briechle and Uwe D. Hanebeck}, journal = {at - Automatisierungstechnik}, month = {September}, pages = {415--424}, publisher = {Oldenbourg Verlag}, title = {Lokalisierung mittels mengenbasierter nichtlinearer Filterung im Hyperraum}, url = {http://dx.doi.org/10.1524/auto.2005.53.9.415}, volume = {53}, year = {2005} }  Bernd Ga\ssmann, Marco Huber, J. Marius Zöllner, Rüdiger Dillmann, Navigation of Walking Robots: Path Planning,Proceedings of the 8th International Conference on Climbing and Walking Robots (CLAWAR 2005), 1:115–122, London, United Kingdom, September, 2005. BibTeX: @inproceedings{CLAWAR05_GassmannHuber, abstract = {Proper navigation of walking machines in unstructured terrain requires a path planning algorithm that reflects the flexibility of the robots movements. This paper discusses the problem and presents a real time capable path planning algorithm for walking machines that also makes use of their climbing abilities.}, address = {London, United Kingdom}, author = {Bernd Ga\ssmann and Marco Huber and J. Marius Zöllner and Rüdiger Dillmann}, booktitle = {Proceedings of the 8th International Conference on Climbing and Walking Robots (CLAWAR 2005)}, month = {September}, pages = {115--122}, title = {Navigation of Walking Robots: Path Planning}, volume = {1}, year = {2005} }  Florian Weissel, Uwe D. Hanebeck, A Test-Environment for Control Schemes in the Field of Collaborative Robots and Swarm Intelligence,Proceedings of the 7th International Workshop on Computer Science and Information Technologies (CSIT 2005), Ufa, Russian Federation, September, 2005. BibTeX: @inproceedings{CSIT05_Weissel, abstract = {This paper presents an architecture for a test-environment for algorithms and control schems in the filed of collaborative robotics and swarm intelligence. As the foundation of the test-environment, small bionically inspired robots are presented. The robots are small (20 cm x 5 cm x 5 cm) and lightweight (< 200g). Their design is inspired by the movement of caterpillars. Threee cubical segments are connected via special joints, where each of these joints has three independent degrees of translatory freedom. Thus, the robots are able to handle rough terrain with small obstacle. The robots are driven by innovative piezoelectric motors that allow a gearless design without any rotary parts. Each robot is equipped with on-board processing and radio communication. The software of the robots is written using TinyOS, an event-driven operating system for large-scale distributed sensor-actuator-networks.}, address = {Ufa, Russian Federation}, author = {Florian Weissel and Uwe D. Hanebeck}, booktitle = {Proceedings of the 7th International Workshop on Computer Science and Information Technologies (CSIT 2005)}, month = {September}, pdf = {CSIT05_Weissel.pdf}, title = {A Test-Environment for Control Schemes in the Field of Collaborative Robots and Swarm Intelligence}, volume = {1}, year = {2005} }  Daniel Hahn, Frederik Beutler, Uwe D. Hanebeck, Visual Scene Augmentation for Enhanced Human Perception,Proceedings of the 2nd International Conference on Informatics in Control, Automation and Robotics (ICINCO 2005), 2:146–153, Barcelona, Spain, September, 2005. BibTeX: @inproceedings{ICINCO05_Hahn, abstract = {In this paper we present an assistive system for hearing-impaired people that consists of a wearable microphone array and an Augmented Reality (AR) system. This system helps the user in communication situations, where many speakers or sources of background noise are present. In order to restore the cocktail party effect multiple microphones are used to estimate the position of individual sound sources. In order to allow the user to interact in complex situations with many speakers, an algorithm for estimating the user's attention is developed. This algorithm determines the sound sources, which are in the user's focus of attention. It allows the system to discard irrelevant information and enables the user to focus on certain aspects of the surroundings. Based on the user's hearing impairment, the perception of the speaker in the focus of attention can be enhanced, e.g. by amplification or using a speech-to-text conversion. A prototype has been built for evaluating this approach. Currently the prototype is able to locate sound beacons in three-dimensional space, to perform a simple focus estimation, and to present floating captions in the Augmented Reality. The prototype uses an intentionally simple user interface, in order to minimize distractions.}, address = {Barcelona, Spain}, author = {Daniel Hahn and Frederik Beutler and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2nd International Conference on Informatics in Control, Automation and Robotics (ICINCO 2005)}, month = {September}, pages = {146--153}, pdf = {ICINCO05_Hahn.pdf}, title = {Visual Scene Augmentation for Enhanced Human Perception}, volume = {2}, year = {2005} }  Patrick Rö\ssler, Frederik Beutler, Uwe D. Hanebeck, A Framework for Telepresent Game-Play in Large Virtual Environments,Proceedings of the 2nd International Conference on Informatics in Control, Automation and Robotics (ICINCO 2005), 3:150–155, Barcelona, Spain, September, 2005. BibTeX: @inproceedings{ICINCO05_Roessler, abstract = {In this paper we present a framework that provides a novel interface to avatar control in immersive computer games. The user's motion is tracked and transferred to to the game environment. This motion data is used as control input for the avatar. The game graphics are rendered according to the avatar's motion and presented to the user on a head-mounted display. As a result, the user immerses into the game environment and identifies with the avatar. However, without further processing of the motion data, the virtual environment would be limited to the size of the user's real environment, which is not desirable. By using Motion Compression, the framework allows exploring an arbitrarily large virtual environment while the user is actually moving in an environment of limited size. Based on the proposed framework, two game applications were implemented, a modification of a commercially available game and a custom designed game. These two applications prove, that a telepresence system using Motion Compression is a highly intuitive interface to game control.}, address = {Barcelona, Spain}, author = {Patrick Rö\ssler and Frederik Beutler and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2nd International Conference on Informatics in Control, Automation and Robotics (ICINCO 2005)}, month = {September}, pages = {150--155}, pdf = {ICINCO05_Roessler.pdf}, title = {A Framework for Telepresent Game-Play in Large Virtual Environments}, volume = {3}, year = {2005} }  Oliver C. Schrempf, Uwe D. Hanebeck, A Generic Model for Estimating User Intentions in Human-Robot Cooperation,Proceedings of the 2nd International Conference on Informatics in Control, Automation and Robotics (ICINCO 2005), 3:251–256, Barcelona, Spain, September, 2005. BibTeX: @inproceedings{ICINCO05_Schrempf-Intention, abstract = {The recognition of user intentions is an important feature for humanoid robots to make implicit and human-like interactions possible. In this paper, we introduce a formal view on user-intentions in human-machine interaction and how they can be estimated by observing user actions. We use Hybrid Dynamic Bayesian Networks to develop a generic model that includes connections between intentions, actions, and sensor measurements. This model can be used to extend arbitrary human-machine applications by intention recognition.}, address = {Barcelona, Spain}, author = {Oliver C. Schrempf and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2nd International Conference on Informatics in Control, Automation and Robotics (ICINCO 2005)}, keywords = {Intention Recognition}, month = {September}, pages = {251--256}, pdf = {ICINCO05_Schrempf-Intention.pdf}, title = {A Generic Model for Estimating User Intentions in Human-Robot Cooperation}, volume = {3}, year = {2005} }  Felix Sawo, Masayuki Fujita, Oliver Sawodny, Passivity–Based Dynamic Visual Feedback Control of Manipulators with Kinematic Redundancy,Proceedings of the 2005 IEEE Conference on Control Applications (CCA 2005), pp. 1200–1205, August, 2005. BibTeX: @inproceedings{CCA05_Sawo, author = {Felix Sawo and Masayuki Fujita and Oliver Sawodny}, booktitle = {Proceedings of the 2005 IEEE Conference on Control Applications (CCA 2005)}, doi = {10.1109/CCA.2005.1507294}, month = {August}, pages = {1200--1205}, pdf = {CCA05_Sawo.pdf}, title = {Passivity--Based Dynamic Visual Feedback Control of Manipulators with Kinematic Redundancy}, year = {2005} }  Patrick Rö\ssler, Frederik Beutler, Uwe D. Hanebeck, Norbert Nitzsche, Motion Compression Applied to Guidance of a Mobile Teleoperator,Proceedings of the 2005 IEEE International Conference on Intelligent Robots and Systems (IROS 2005), pp. 2495–2500, Edmonton, Canada, August, 2005. BibTeX: @inproceedings{IROS05_Roessler, abstract = {Telepresence aims at giving a human user the impression of being present in a remote environment. However, the user is actually situated in a user environment and his motion is tracked. A mobile teleoperator in the remote environment replicates this motion. The user can thus control the mobile teleoperator's locomotion by walking. A stereo-camera system mounted on the mobile teleoperator constantly records live camera images and transfers them to the user environment, where they are presented to the user on a head-mounted display. This paper presents a long distance experiment, in which a mobile teleoperator was controlled over a standard internet connection by natural locomotion. Without further processing of the user's motion data, however, only exploration of a remote environment of the same size or smaller than the user environment is possible. As this is not desirable, we use Motion Compression, an optimal nonlinear transformation of the user's path. This algorithm allows controlling free motion in an arbitrarily large target environment from a limited user environment.}, address = {Edmonton, Canada}, author = {Patrick Rö\ssler and Frederik Beutler and Uwe D. Hanebeck and Norbert Nitzsche}, booktitle = {Proceedings of the 2005 IEEE International Conference on Intelligent Robots and Systems (IROS 2005)}, month = {August}, pages = {2495--2500}, pdf = {IROS05_Roessler.pdf}, title = {Motion Compression Applied to Guidance of a Mobile Teleoperator}, year = {2005} }  Oliver C. Schrempf, Uwe D. Hanebeck, Andreas J. Schmid., Heinz Wörn, A Novel Approach to Proactive Human-Robot Cooperation,Proceedings of the 2005 IEEE International Workshop on Robot and Human Interactive Communication (ROMAN 2005), pp. 555–560, Nashville, Tennessee, USA, August, 2005. BibTeX: @inproceedings{ROMAN05_SchrempfSchmid, abstract = {This paper introduces the concept of proactive execution of robot tasks in the context of human-robot cooperation with uncertain knowledge of the human's intentions. We present a system architecture that defines the necessary modules of the robot and their interactions with each other. The two key modules are the intention recognition that determines the human user's intentions and the planner that executes the appropriate tasks based on those intentions. We show how planning conflicts due to the uncertainty of the intention information are resolved by proactive execution of the corresponding task that optimally reduces the system's uncertainly. Finally, we present an algorithm for selecting this task and suggest a benchmark scenario.}, address = {Nashville, Tennessee, USA}, author = {Oliver C. Schrempf and Uwe D. Hanebeck and Andreas J. Schmid. and Heinz Wörn}, booktitle = {Proceedings of the 2005 IEEE International Workshop on Robot and Human Interactive Communication (ROMAN 2005)}, keywords = {collision avoidance, humanoid robots, man-machine systems, mobile robots, human centered computing, humanoid robots, intention recognition, proactive human-robot cooperation, robot tasks}, month = {August}, pages = {555--560}, pdf = {ROMAN05_SchrempfSchmid.pdf}, title = {A Novel Approach to Proactive Human-Robot Cooperation}, year = {2005} }  Marian Grigoras, Olga Feiermann, Uwe D. Hanebeck, Data-Driven Modeling of Signal Strength Distributions for Localization in Cellular Radio Networks (Datengetriebene Modellierung von Feldstärkeverteilungen für die Ortung in zellulären Funknetzen),at - Automatisierungstechnik, Sonderheft: Datenfusion in der Automatisierungstechnik, 53(7):314–321, Oldenbourg Verlag, July, 2005. BibTeX: @article{AT05_Grigoras, abstract = {In this article, we propose a novel approach to solving the localization problem in cellular networks, with a focus on indoor environments. The goal is to estimate a mobile user's position, based on measurements of signals received from different base stations. Our solution uses the Progressive Bayes estimation framework to model the distribution of signal measurements, as obtained in a series of calibration measurements. In the localization step, we compute the full probability density over the user position. We also show that user motion models can be easily integrated in our solution.}, author = {Marian Grigoras and Olga Feiermann and Uwe D. Hanebeck}, journal = {at - Automatisierungstechnik, Sonderheft: Datenfusion in der Automatisierungstechnik}, month = {July}, number = {7}, pages = {314--321}, publisher = {Oldenbourg Verlag}, title = {Data-Driven Modeling of Signal Strength Distributions for Localization in Cellular Radio Networks (Datengetriebene Modellierung von Feldstärkeverteilungen für die Ortung in zellulären Funknetzen)}, url = {http://dx.doi.org/10.1524/auto.53.7.314.66708}, volume = {53}, year = {2005} }  Uwe D. Hanebeck, Hartwig Steusloff (Eds.), at - Automatisierungstechnik, Sonderheft: Datenfusion in der Automatisierungstechnik,Oldenbourg Verlag, July, 2005. BibTeX: @book{AT05_Hanebeck, editor = {Uwe D. Hanebeck and Hartwig Steusloff}, month = {July}, number = {7}, pdf = {AT05_Hanebeck.pdf}, publisher = {Oldenbourg Verlag}, series = {at - Automatisierungstechnik}, title = {at - Automatisierungstechnik, Sonderheft: Datenfusion in der Automatisierungstechnik}, volume = {53}, year = {2005} }  Kathrin Roberts, Uwe D. Hanebeck, Prediction and Reconstruction of Distributed Dynamic Phenomena Characterized by Linear Partial Differential Equations,Proceedings of the 8th International Conference on Information Fusion (Fusion 2005), Philadelphia, Pennsylvania, USA, July, 2005. BibTeX: @inproceedings{Fusion05_Roberts, abstract = {A primary challenge for the reconstruction of continuous-time, continuous-amplitude distributed parameter systems is the inclusion of recent discrete-time, discreteamplitude, spatially discrete measurements. Hence, a systematic method for data processing is required that also handles incomplete and noisy data, e.g. data from a sensor network. This article presents two approaches to the reconstruction of distributed parameter systems that can be described by linear partial differential equations (PDEs) and involve one or several discrete measurement points. In both approaches, the linear PDE is first converted into a bank of linear lumped systems by means of modal analysis. In addition, a measurement equation relating state and (sensor) data is derived. In the second step, a Kalman filter (KF) is used to dynamically estimate the state of the lumped systems, which provides an approximation of the solution of the underlying PDE. The first approach uses Fourier Analysis. The second approach uses Fourier Analysis and the collocation method. The approaches are both demonstrated for a simple linear inhomogeneous PDE, the one-dimensional heat equation.}, address = {Philadelphia, Pennsylvania, USA}, author = {Kathrin Roberts and Uwe D. Hanebeck}, booktitle = {Proceedings of the 8th International Conference on Information Fusion (Fusion 2005)}, month = {July}, pdf = {Fusion05_Roberts.pdf}, title = {Prediction and Reconstruction of Distributed Dynamic Phenomena Characterized by Linear Partial Differential Equations}, year = {2005} }  Oliver C. Schrempf, O. Feiermann, Uwe D. Hanebeck, Optimal Mixture Approximation of the Product of Mixtures,Proceedings of the 8th International Conference on Information Fusion (Fusion 2005), 1:85–92, Philadelphia, Pennsylvania, USA, July, 2005. BibTeX: @inproceedings{Fusion05_Schrempf-MixtureReduction, abstract = {Gaussian mixture densities are very common today to describe arbitrary structured uncertainties in various applications. Many of these applications have to deal with the fusion of uncertainties, an operation that is usually performed by multiplication of these densities. The product of Gaussian mixtures can be calculated exactly, but the number of mixture components in the resulting mixture increases in an exponential way. Hence, it is essential to approximate this resulting mixture with less components, to keep it tractable for further processing steps. This paper introduces an approach to approximate the exact product with a mixture that uses less components. The maximum approximation error can be chosen by the user. This choice allows to trade accuracy of the approximation for the number of mixture components used. This is possible due to the usage of a progressive processing scheme that calculates the product operation by means of a system of ordinary differential equations. The solution of this system yields the parameters of the desired Gaussian mixture.}, address = {Philadelphia, Pennsylvania, USA}, author = {Oliver C. Schrempf and O. Feiermann and Uwe D. Hanebeck}, booktitle = {Proceedings of the 8th International Conference on Information Fusion (Fusion 2005)}, keywords = {Gaussian Mixtures}, month = {July}, pages = {85--92}, pdf = {Fusion05_Schrempf-MixtureReduction.pdf}, title = {Optimal Mixture Approximation of the Product of Mixtures}, volume = {1}, year = {2005} }  Oliver C. Schrempf, Uwe D. Hanebeck, Evaluation of Hybrid Bayesian Networks using Analytical Density Representations,Proceedings of the 16th IFAC World Congress (IFAC 2005), Prague, Czech Republic, July, 2005. BibTeX: @inproceedings{IFAC05_Schrempf-HybridBN, abstract = {In this article, a new mechanism is described for modeling and evaluating Hybrid Dynamic Bayesian networks. The approach uses Gaussian mixtures and Dirac mixtures as messages to calculate marginal densities. As these densities are approximated by means of Gaussian mixtures, any desired precision is possible. The presented approach removes the restrictions of sample based evaluation of Bayesian networks since it uses an analytical approximation scheme for probability densities which systematically minimizes the distance between the exact and the approximate density.}, address = {Prague, Czech Republic}, author = {Oliver C. Schrempf and Uwe D. Hanebeck}, booktitle = {Proceedings of the 16th IFAC World Congress (IFAC 2005)}, keywords = {Hybrid Bayesian Networks}, month = {July}, organization = {IFAC}, pdf = {IFAC05_Schrempf-HybridBN.pdf}, title = {Evaluation of Hybrid Bayesian Networks using Analytical Density Representations}, year = {2005} }  Dietrich Brunn, Uwe D. Hanebeck, A Model-Based Framework for Optimal Measurements in Machine Tool Calibration,Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA 2005), Barcelona, Spain, April, 2005. BibTeX: @inproceedings{ICRA05_Brunn-Splines, abstract = {Calibration is the procedure of quantifying mechanical depciencies of machines and compensating them by appropriate adjustment. This paper introduces a model- based measurement framework for improving calibration procedures of machine tools. The goal is to precisely estimate the mechanical depciencies based on a minimal number of measurements. For that purpose, the mechanical depciencies of linear and rotary joints are modeled using splines. Uncertainties of the depciency model are formulated stochastically, which allows incorporation of imprecise measurement data and prediction of optimal measurement parameters. We derive a method for optimally estimating a set of splines, i.e., joint errors, based on a set of measurements and for predicting the optimal joint configuration for new measurements.}, address = {Barcelona, Spain}, author = {Dietrich Brunn and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA 2005)}, month = {April}, pdf = {ICRA05_Brunn-Splines.pdf}, title = {A Model-Based Framework for Optimal Measurements in Machine Tool Calibration}, year = {2005} }  Frederik Beutler, Uwe D. Hanebeck, Closed-Form Range-Based Posture Estimation Based on Decoupling Translation and Orientation,Proceedings of the 2005 IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP 2005), 4:989–992, Philadelphia, Pennsylvania, USA, March, 2005. BibTeX: @inproceedings{ICASSP05_Beutler, abstract = {For estimating the posture, i.e., position and orientation, of an extended target based on range measurements, a new closed-form solution is proposed, which is based on decoupling position and orientation. For decoupling, any procedure for range-based localization of point targets, i.e., for mere position estimation, can be used. The new solution is suboptimal, but nevertheless provides good accuracy and is very practical from an application point of view.}, address = {Philadelphia, Pennsylvania, USA}, author = {Frederik Beutler and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2005 IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP 2005)}, month = {March}, pages = {989--992}, pdf = {ICASSP05_Beutler.pdf}, title = {Closed-Form Range-Based Posture Estimation Based on Decoupling Translation and Orientation}, volume = {4}, year = {2005} }  2004 Oliver C. Schrempf, Uwe D. Hanebeck, A New Approach for Hybrid Bayesian Networks Using Full Densities,Proceedings of the 6th International Workshop on Computer Science and Information Technologies (CSIT 2004), 1:32–37, Budapest, Hungary, October, 2004. BibTeX: @inproceedings{CSIT04-Schrempf_HybridBN, abstract = {In this article, a new mechanism is described for modeling and evaluating hybrid Bayesian networks. The approach uses Gaussian mixtures and Dirac mixtures as messages to calculate marginal densities. The mechanism is proven to be exact, hence the accuracy of resulting marginals is only dependending on the accuracy of the conditional densities. As these densities are approximated by means of Gaussian mixtures, any desired precision can be achieved. The presented approach removes the restrictions concerning the ancestry of discrete nodes often made in literature. Hence it enables the designer to model arbitrary parent-child relationships using continuous and discrete variables.}, address = {Budapest, Hungary}, author = {Oliver C. Schrempf and Uwe D. Hanebeck}, booktitle = {Proceedings of the 6th International Workshop on Computer Science and Information Technologies (CSIT 2004)}, keywords = {Hybrid Bayesian Networks}, month = {October}, pages = {32--37}, pdf = {CSIT04-Schrempf_HybridBN.pdf}, title = {A New Approach for Hybrid Bayesian Networks Using Full Densities}, volume = {1}, year = {2004} }  Frederik Beutler, Uwe D. Hanebeck, A New Nonlinear Filtering Technique for Source Localization,Proceedings of the 3rd IEEE Conference on Sensors (Sensors 2004), 1:413–416, Vienna, Austria, October, 2004. BibTeX: @inproceedings{Sensors04_Beutler, abstract = {A new model-based approach for estimating the parameters of an arbitrary transformation between two discrete-time sequences will be introduced. One sequence is interpreted as part of a nonlinear measurement equation, the other sequence is typically measured sequentially. Based on every measured value, the probability density function of the parameters is updated using a Bayesian approach. For the evolution of the system over time, a system equation is included. The new approach provides a high update rate for the desired parameters up to the sampling rate with high accuracy. It will be demonstrated for source localization of a speaker, where the parameters describe the position of the source.}, address = {Vienna, Austria}, author = {Frederik Beutler and Uwe D. Hanebeck}, booktitle = {Proceedings of the 3rd IEEE Conference on Sensors (Sensors 2004)}, month = {October}, pages = {413--416}, pdf = {Sensors04_Beutler.pdf}, title = {A New Nonlinear Filtering Technique for Source Localization}, volume = {1}, year = {2004} }  Patrick Rö\ssler, Uwe D. Hanebeck, Telepresence Techniques for Exception Handling in Household Robots,Proceedings of the 2004 IEEE International Conference on Systems, Man and Cybernetics (SMC 2004), 1:53–58, The Hague, The Netherlands, October, 2004. BibTeX: @inproceedings{SMC04_Roessler, abstract = {The hardware for humanoid household robots will be available in the near future. As households are unstructured domains and interaction with human users is ambiguous, these robots encounter unexpected situations, so called exceptions. These render the robot unusable, if not handled fast and transparently to the user. Telepresent exception handling gives the technical staff an intuitive interface to the robots and is transparent to the client. We propose a service center for telepresent exception handling, which is directly available and thus allows the use of humanoid domestic robots as soon as the corresponding hardware is commercially available.}, address = {The Hague, The Netherlands}, author = {Patrick Rö\ssler and Uwe D. Hanebeck}, booktitle = {Proceedings of the 2004 IEEE International Conference on Systems, Man and Cybernetics (SMC 2004)}, doi = {10.1109/ICSMC.2004.1398272}, month = {October}, pages = {53--58}, pdf = {SMC04_Roessler.pdf}, title = {Telepresence Techniques for Exception Handling in Household Robots}, volume = {1}, year = {2004} }  Patrick Rö\ssler, Uwe D. Hanebeck, Norbert Nitzsche, Feedback Controlled Motion Compression for Extended Range Telepresence,Proceedings of the 2004 IEEE International Conference on Mechatronics & Robotics (MechRob 2004), pp. 1447–1452, Aachen, Germany, September, 2004. BibTeX: @inproceedings{MECHROB04_Roessler, abstract = {Telepresence aims at giving a human user the impression of being present in a remote environment. This is achieved by having a robot, that is actually present in the remote environment, gather visual data. This data is presented to the user, who is wearing a head mounted display. In order to extend telepresence to an intuitive user interface for robot teleoperation, the user's motion is tracked and replicated by the robot. The user can now interact more naturally with the remote environment simply by walking around. Without further processing of the motion data, the size of the remote environment is limited to the size of the user environment. Using the motion compression algorithm allows users to be telepresent in large target environments while the size of the user environment is limited. However, as a consequence of the influence of standard motion compression on the user's natural navigation, he tends to leave the desired path. This can even lead to users leaving the user environment. We address this problem by introducing controlled motion compression which adds a feedback controller to motion compression. This controller modifies the user's perception of the target environment in such a way, that he is controlled on the path.}, address = {Aachen, Germany}, author = {Patrick Rö\ssler and Uwe D. Hanebeck and Norbert Nitzsche}, booktitle = {Proceedings of the 2004 IEEE International Conference on Mechatronics & Robotics (MechRob 2004)}, month = {September}, pages = {1447-1452}, pdf = {MECHROB04_Roessler.pdf}, title = {Feedback Controlled Motion Compression for Extended Range Telepresence}, year = {2004} }  Michael Huebner, Michael Ullmann, Florian Weissel, Juergen Becker, Real-time Configuration Code Decompression for Dynamic FPGA Self-Reconfiguration,Proceedings of the 18th International Parallel and Distributed Processing Symposium (IPDPS'04), pp. 138–143, Santa Fé, New Mexico, USA, April, 2004. BibTeX: @inproceedings{IPDPS04_Weissel, abstract = {Xilinx Virtex FPGAs have the possibility of dynamical partial run-time reconfiguration. If a system uses this feature with many different configuration bitstreams for substitution of parts in reconfiguration memory, the amout of neccesary memory increases. The sum of memory amout which has to be provided for the configuration data is not negligible. This fact suggests the investigation of compressing data before they are stored in memory modules of a system.The compressed bitstream data has to be decrompressed before transferring it to the FPGA. This paper shows an approach of compressing configuration data at design time and decompressing them with a hardware module implemented on FPGA while run-time.}, address = {Santa Fé, New Mexico, USA}, author = {Michael Huebner and Michael Ullmann and Florian Weissel and Juergen Becker}, booktitle = {Proceedings of the 18th International Parallel and Distributed Processing Symposium (IPDPS'04)}, month = {April}, pages = {138--143}, title = {Real-time Configuration Code Decompression for Dynamic FPGA Self-Reconfiguration}, year = {2004} }  Norbert Nitzsche, Uwe D. Hanebeck, Günther Schmidt, Motion Compression for Telepresent Walking in Large Target Environments,Presence: Teleoperators & Virtual Environments, 13(1):44–60, The MIT press, February, 2004. BibTeX: @article{PRE04_Nitzsche, abstract = {Telepresent walking allows visits to remote places such as museums, exhibitions, architecture, or industrial sites with a high degree of realism. While walking freely around in the user environment, the user sees the remote environment through the eyes of a remote mobile teleoperator. For that purpose, the user's motion is tracked and transferred to the teleoperator. Without additional processing of the motion data, the size of the remote environment to be explored is limited to the size of the user environment. This paper proposes an extension of telepresent walking to arbitrarily large remote or virtual spaces based on compressing wide-area motion into the available user space. Motion compression is a novel approach and does not make use of scaling or walking-in-place metaphors. Rather, motion compression introduces some deviation of curvature between user motion and teleoperator motion. An optimization approach is used to find the user path of minimum curvature deviation with respect to a given predicted teleoperator path that fits inside the boundaries of the user environment. Turning angles and travel distances are mapped with a 1:1 ratio to provide the desired impression of realistic self-locomotion in the teleoperator's environment. The effects of the curvature deviation on inconsistent perception of locomotion are studied in two experiments.}, author = {Norbert Nitzsche and Uwe D. Hanebeck and Günther Schmidt}, journal = {Presence: Teleoperators & Virtual Environments}, month = {February}, number = {1}, pages = {44--60}, publisher = {The MIT press}, title = {Motion Compression for Telepresent Walking in Large Target Environments}, url = {http://dx.doi.org/10.1162/105474604774048225}, volume = {13}, year = {2004} }  Kai Briechle, Uwe D. Hanebeck, Localization of a Mobile Robot Using Relative Bearing Measurements,IEEE Transactions on Robotics and Automation, 20:36–44, February, 2004. BibTeX: @article{RA04_Briechle, abstract = {In this paper, the problem of recursive robot localization based on relative bearing measurements is considered, where unknown but bounded measurement uncertainties are assumed. A common approach is to approximate the resulting set of feasible states by simple-shaped bounding sets such as, e.g., axis-aligned boxes, and calculate the optimal parameters of this approximation based on the measurements and prior knowledge. In the novel approach presented here, a nonlinear transformation of the measurement equation into a higher dimensional space is performed. This yields a tight, possibly complex-shaped, bounding set in a closed-form representation whose parameters can be determined analytically for the measurement step. It is shown that the new bound is superior to commonly used outer bounds.}, author = {Kai Briechle and Uwe D. Hanebeck}, doi = {http://dx.doi.org/10.1109/TRA.2003.820933}, journal = {IEEE Transactions on Robotics and Automation}, month = {February}, pages = {36--44}, pdf = {RA04_Briechle.pdf}, title = {Localization of a Mobile Robot Using Relative Bearing Measurements}, volume = {20}, year = {2004} }  2003 Uwe D. Hanebeck, Olga Feiermann, Progressive Bayesian Estimation for Nonlinear Discrete-Time Systems: The Filter Step for Scalar Measurements and Multidimensional States,Proceedings of the 2003 IEEE Conference on Decision and Control (CDC 2003), pp. 5366–5371, Maui, Hawaii, USA, December, 2003. BibTeX: @inproceedings{CDC03_Feiermann-ProgBayes, abstract = {This paper is concerned with recursively estimating the internal state sequence of a discrete-time dynamic system by processing a sequence of noisy measurements taken from the system output. Recursive processing requires some kind of sufficient statistic for representing the information collected up to a certain time step. For this purpose, the probability density functions of the state are especially well suited. Once they are available, almost any type of point estimate, e.g. mean, mode, or median, can be derived. In the case of continuous states, however, the exact probability density functions characterizing the state estimate are in general either not feasible or not well suited for recursive processing. Hence, approximations of the true densities are generally inevitable, where Gaussian mixture approximations are convenient for a number of reasons. However, calculating appropriate mixture parameters that minimize a global measure of deviation from the true density is a tough optimization task. Here, we propose a new approximation method that minimizes the squared integral deviation between the true density and its mixture approximation. Rather than trying to solve the original problem, it is converted into a corresponding system of explicit ordinary first-order differential equations. This system of differential equations is then solved over a finite time interval, which is an efficient way of calculating the desired optimal parameter values. We focus on the measurement update in the important case of vector states and scalar measurements. In addition, approximation densities with separable kernels are assumed. It will be shown, that if the measurement nonlinearities are also separable, the required multidimensional integrals can be reduced to the product of one-dimensional integrals. For several important types of measurement functions including polynomial measurement nonlinearities, closed-form analytic expressions for the coefficients of the system of differential equations are available.}, address = {Maui, Hawaii, USA}, author = {Uwe D. Hanebeck and Olga Feiermann}, booktitle = {Proceedings of the 2003 IEEE Conference on Decision and Control (CDC 2003)}, month = {December}, pages = {5366--5371}, pdf = {CDC03_Feiermann-ProgBayes.pdf}, title = {Progressive Bayesian Estimation for Nonlinear Discrete-Time Systems: The Filter Step for Scalar Measurements and Multidimensional States}, year = {2003} }  Patrick Rö\ssler, Uwe D. Hanebeck, Marian Grigoras, Paul T. Pilgram, Joachim Bamberger, Clemens Hoffmann, Automatische Kartographierung der Signalcharakteristik in Funknetzwerken,Autonome Mobile Systeme 2003 (AMS 2003), 18. Fachgespräch, Karlsruhe, Informatik Aktuell, Springer, October, 2003. BibTeX: @incollection{AMS03_Roessler, abstract = {Sowohl für die Installation, Inbetriebnahme und Diagnose eines Funknetzwerks, als auch zur Ortung von mobilen Kommunikationsendgeräten, ist es von gro\sser Bedeutung, die Ausbreitungseigenschaften des elektromagnetischen Feldes der Sendeantennen zu kennen. In dieser Arbeit wird ein Robotersystem zur automatischen Vermessung der örtlichen Signalcharakteristik der Funksender am Beispiel von Feldstärkemessungen vorgestellt.}, author = {Patrick Rö\ssler and Uwe D. Hanebeck and Marian Grigoras and Paul T. Pilgram and Joachim Bamberger and Clemens Hoffmann}, booktitle = {Autonome Mobile Systeme 2003 (AMS 2003), 18.~Fachgespräch, Karlsruhe, Informatik Aktuell}, editor = {Rüdiger Dillmann and Tilo Gockel and Heinz Wörn}, month = {October}, publisher = {Springer}, title = {Automatische Kartographierung der Signalcharakteristik in Funknetzwerken}, url = {http://dx.doi.org/10.1007/978-3-642-18986-9_21}, year = {2003} }  Uwe D. Hanebeck, Joachim Horn, Data Validation in the Presence of Imprecisely Known Correlations,Proceedings of the 2003 European Control Conference 2003 (ECC 2003), Cambridge, United Kingdom, September, 2003. BibTeX: @inproceedings{ECC03_Hanebeck, abstract = {This paper derives fundamental results for data validation in the presence of imprecisely known correlations. Given a constraint on the maximum absolute correlation of a given estimate and measurement data, a tight upper bound for the joint covariance matrix is derived, which finally yields a modified Mahalanobis distance. The special cases of one-dimensional and two-dimensional random variables are discussed.}, address = {Cambridge, United Kingdom}, author = {Uwe D. Hanebeck and Joachim Horn}, booktitle = {Proceedings of the 2003 European Control Conference 2003 (ECC 2003)}, month = {September}, pdf = {ECC03_Hanebeck.pdf}, title = {Data Validation in the Presence of Imprecisely Known Correlations}, year = {2003} }  Joachim Horn, Uwe D. Hanebeck, Konrad Riegel, Kai Heesche, Werner Hauptmann, Nonlinear Set-Theoretic Position Estimation of Cellular Phones,Proceedings of the 2003 European Control Conference (ECC 2003), Cambridge, United Kingdom, September, 2003. BibTeX: @inproceedings{ECC03_Horn-SetBasedLocalization, abstract = {Within the existing GSM standard, several measurements are available that can be used for estimating the position of a cellular phone. First, the timing advance (TA) gives an estimate for the distance to the serving base station. Second, the signal strengths (RXLEV) of neighbouring base stations can also be interpreted as distance information. Both TA and RXLEV are subject to measurement errors caused for example by shadowing, reflections, and fast fading. Thus, a nonlinear set-theoretic estimation technique based on pseudo ellipsoids is applied. The uncertainty regions in the original space defined by the measurements are transformed into a hyperspace of higher dimension and described by pseudo ellipsoids. An approximation of the set intersection of the pseudo ellipsoids can be calculated recursively by a linear set-theoretic filter. The resulting pseudo ellipsoid is transformed back into the original space, and the position estimate is calculated as center of gravity of the resulting uncertainty region. The algorithm is evaluated based on the data of an extensive field trial in a rural area. Compared to Cell ID, the accuracy is significantly increased by using TA and RXLEV, reducing the mean error by half.}, address = {Cambridge, United Kingdom}, author = {Joachim Horn and Uwe D. Hanebeck and Konrad Riegel and Kai Heesche and Werner Hauptmann}, booktitle = {Proceedings of the 2003 European Control Conference (ECC 2003)}, month = {September}, pdf = {ECC03_Horn-SetBasedLocalization.pdf}, title = {Nonlinear Set-Theoretic Position Estimation of Cellular Phones}, year = {2003} }  Uwe D. Hanebeck, Optimal Filtering of Nonlinear Systems Based on Pseudo Gaussian Densities,Proceedings of the 13th IFAC Symposium on System Identification (SYSID 2003), pp. 331–336, Rotterdam, Netherlands, August, 2003. BibTeX: @inproceedings{SYSID03_Hanebeck, abstract = {We consider the problem of estimating the state of a discrete-time dynamic system comprising a linear system equation and a nonlinear measurement equation based on measurements corrupted by non-Gaussian noise. The problem is solved by recursively calculating the complete posterior density of the state given the measurements. For representing the resulting non-Gaussian posterior, a new exponential type density, the so called pseudo Gaussian density, is introduced. By converting the original nonlinear system to an equivalent linear representation in a higher-dimensional space, the parameters of the pseudo Gaussian posterior are obtained by means of a linear estimator operating in the higher-dimensional space. The resulting filtering algorithms are easy to implement and always guarantee valid posterior densities.}, address = {Rotterdam, Netherlands}, author = {Uwe D. Hanebeck}, booktitle = {Proceedings of the 13th IFAC Symposium on System Identification (SYSID 2003)}, month = {August}, pages = {331--336}, pdf = {SYSID03_Hanebeck.pdf}, title = {Optimal Filtering of Nonlinear Systems Based on Pseudo Gaussian Densities}, year = {2003} }  Uwe D. Hanebeck, Progressive Bayesian Estimation for Nonlinear Discrete-Time Systems: The Measurement Step,Proceedings of the 2003 IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2003), pp. 173–178, Tokyo, Japan, July, 2003. BibTeX: @inproceedings{MFI03_Hanebeck, abstract = {This paper is concerned with estimating the internal state of a dynamic system by processing measurements taken from the system output. An exact analytic representation of the probability density functions characterizing the estimate may not be possible to obtain. Even when available, it may be too complex or not practical because, for example, recursive application is required. Hence, approximations are generally inevitable. Gaussian mixture approximations are convenient for a number of reasons. However, calculating appropriate mixture parameters that minimize a global measure of deviation from the true density is a tough optimization task. Here, we propose a new approximation method that minimizes the squared integral deviation between the the true density and its mixture approximation. Rather than trying to solve the original problem, it is converted into a corresponding system of explicit ordinary first-order differential equations. This system of differential equations is then solved over a finite "time" interval, which is an efficient way of calculating the desired optimal parameter values. For polynomial measurement nonlinearities, closed-form analytic expressions for the coefficients of the system of differential equations are derived.}, address = {Tokyo, Japan}, author = {Uwe D. Hanebeck}, booktitle = {Proceedings of the 2003 IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2003)}, month = {July}, pages = {173--178}, pdf = {MFI03_Hanebeck.pdf}, title = {Progressive Bayesian Estimation for Nonlinear Discrete-Time Systems: The Measurement Step}, year = {2003} }  Uwe D. Hanebeck, Kai Briechle, Andreas Rauh, Progressive Bayes: A New Framework for Nonlinear State Estimation,Proceedings of SPIE, AeroSense Symposium, 5099:256 – 267, Orlando, Florida, USA, May, 2003. BibTeX: @inproceedings{SPIE03_HanebeckBriechle-ProgBayes, abstract = {This paper is concerned with recursively estimating the internal state of a nonlinear dynamic system by processing noisy measurements and the known system input. In the case of continuous states, an exact analytic representation of the probability density characterizing the estimate is generally too complex for recursive estimation or even impossible to obtain. Hence, it is replaced by a convenient type of approximate density characterized by a finite set of parameters. Of course, parameters are desired that systematically minimize a given measure of deviation between the (often unknown) exact density and its approximation, which in general leads to a complicated optimization problem. Here, a new framework for state estimation based on progressive processing is proposed. Rather than trying to solve the original problem, it is exactly converted into a corresponding system of explicit ordinary first-order differential equations. Solving this system over a finite �time� interval yields the desired optimal density parameters.}, address = {Orlando, Florida, USA}, author = {Uwe D. Hanebeck and Kai Briechle and Andreas Rauh}, booktitle = {Proceedings of SPIE, AeroSense Symposium}, month = {May}, pages = {256 -- 267}, pdf = {SPIE03_HanebeckBriechle-ProgBayes.pdf}, title = {Progressive Bayes: A New Framework for Nonlinear State Estimation}, volume = {5099}, year = {2003} }  Joachim Horn, Uwe D. Hanebeck, Konrad Riegel, Kai Heesche, Werner Hauptmann, Nonlinear Set–Theoretic Position Estimation of Cellular Phones,Proceedings of SPIE, Vol. 5084, AeroSense Symposium, pp. 51–58, Orlando, Florida, USA, May, 2003. BibTeX: @inproceedings{SPIE03_Horn, address = {Orlando, Florida, USA}, author = {Joachim Horn and Uwe D. Hanebeck and Konrad Riegel and Kai Heesche and Werner Hauptmann}, booktitle = {Proceedings of SPIE, Vol. 5084, AeroSense Symposium}, month = {May}, pages = {51--58}, pdf = {SPIE03_Horn.pdf}, title = {Nonlinear Set--Theoretic Position Estimation of Cellular Phones}, year = {2003} }  Norbert Nitzsche, Uwe D. Hanebeck, Günther Schmidt, Motion Compression for Telepresent Walking in Large-Scale Remote Environments,Proceedings of SPIE, Vol. 5079, AeroSense Symposium, pp. 265–276, Orlando, Florida, USA, May, 2003. BibTeX: @inproceedings{SPIE03_Nitzsche, abstract = {Telepresent walking creates the sensation of walking through a target environment, which is not directly accessible to a human, e.g. because it is remote, hazardous, or of inappropriate scale. A mobile teleoperator replicates user motion and collects visual and auditory information from the target environment, which is then sent and displayed to the user. While walking freely about the user environment, the user perceives the target environment with the sensors of the teleoperator and feels as if walking through the target environment. Without additional processing of the user's motion data, the size of the target environment to be explored is limited to the size of the user environment. Motion compression extends telepresent walking to arbitrarily large target environments without making use of scaling or walking-in-place metaphors. Both travel distances and turning angles are mapped with ratio 1:1.}, address = {Orlando, Florida, USA}, author = {Norbert Nitzsche and Uwe D. Hanebeck and Günther Schmidt}, booktitle = {Proceedings of SPIE, Vol. 5079, AeroSense Symposium}, month = {May}, owner = {klumpp}, pages = {265--276}, pdf = {SPIE03_Nitzsche.pdf}, timestamp = {2007.05.23}, title = {Motion Compression for Telepresent Walking in Large-Scale Remote Environments}, year = {2003} }  Andreas Rauh, Kai Briechle, Uwe D. Hanebeck, Clemens Hoffmann, Joachim Bamberger, Marian Grigoras, Localization of DECT Mobile Phones Based on a New Nonlinear Filtering Technique,Proceedings of SPIE, Vol. 5084, AeroSense Symposium, pp. 39–50, Orlando, Florida, USA, May, 2003. BibTeX: @inproceedings{SPIE03_Rauh, abstract = {In this paper, nonlinear Bayesian filtering techniques are applied to the localization of mobile radio communication devices. The application of this approach is demonstrated for the localization of DECT mobile telephones in a scenario with several base stations and a mobile handset. The received signal power, measured by the mobile handsets, is related to their position by nonlinear measurement equations. These consist of a deterministic part, modeling the received signal power as a function of the position, and a stochastic part, describing model errors and measurement noise. Additionally, user models are considered, which express knowledge about the motion of the user of the handset. The new Prior Density Splitting Mixture Estimator (PDSME), a Gaussian mixture filtering algorithm, significantly improves the localization quality compared to standard filtering techniques as the Extended Kalman Filter (EKF).}, address = {Orlando, Florida, USA}, author = {Andreas Rauh and Kai Briechle and Uwe D. Hanebeck and Clemens Hoffmann and Joachim Bamberger and Marian Grigoras}, booktitle = {Proceedings of SPIE, Vol. 5084, AeroSense Symposium}, month = {May}, owner = {klumpp}, pages = {39--50}, pdf = {SPIE03_Rauh.pdf}, timestamp = {2007.05.23}, title = {Localization of DECT Mobile Phones Based on a New Nonlinear Filtering Technique}, year = {2003} }  Andreas Rauh, Uwe D. Hanebeck, Calculating Moments of Exponential Densities Using Differential Algebraic Equations,IEEE Signal Processing Letters, 10(5):144–147, May, 2003. BibTeX: @article{SPL03_Rauh, author = {Andreas Rauh and Uwe D. Hanebeck}, journal = {IEEE Signal Processing Letters}, month = {May}, number = {5}, owner = {klumpp}, pages = {144--147}, pdf = {SPL03_Rauh.pdf}, timestamp = {2007.05.23}, title = {Calculating Moments of Exponential Densities Using Differential Algebraic Equations}, volume = {10}, year = {2003} }  Norbert Nitzsche, Uwe D. Hanebeck, Günther Schmidt, Mobile haptische Schnittstellen für weiträumige Telepräsenz: Idee und Methodik,at - Automatisierungstechnik, 51(1):5–12, Oldenbourg Verlag, January, 2003. BibTeX: @article{AT03_Nitzsche, abstract = {Dieser Beitrag beschäftigt sich mit Telepräsenzsystemen zur Interaktion mit weiträumigen realen oder virtuellen Zielumgebungen. Die dafür notwendige Fortbewegung wird durch freie, gehende Fortbewegung des Anwenders erreicht. Um gleichzeitig haptische Interaktion mit einer Zielumgebung zu ermöglichen, wird die haptische Schnittstelle mit dem Anwender mitgeführt. Neuartig ist dabei der Einsatz einer mobilen haptischen Schnittstelle, die der Fortbewegung des Anwenders aktiv folgt. Basierend auf den dargestellten Methoden wurde ein prototypisches Telepräsenzsystem zur haptischen Exploration von ausgedehnten virtuellen Umgebungen entwickelt und getestet. This article is concerned with telepresence systems for interaction with extended real or virtual target environments. Locomotion required for this type of interaction is governed by free, walking locomotion of the operator. In order to allow haptic interaction with the target environment simultaneously, a haptic interface following the operator is employed. As a novel approach, we present a mobile haptic interface, which actively follows the operator's locomotion. Based on the presented methodology, a prototypic telepresence system for haptic exploration of extended virtual environments has been implemented and tested.}, author = {Norbert Nitzsche and Uwe D. Hanebeck and Günther Schmidt}, doi = {10.1524/auto.51.1.5.18872}, journal = {at - Automatisierungstechnik}, month = {January}, number = {1}, owner = {klumpp}, pages = {5--12}, pdf = {AT03_Nitzsche.pdf}, publisher = {Oldenbourg Verlag}, timestamp = {2007.05.23}, title = {Mobile haptische Schnittstellen für weiträumige Telepräsenz: Idee und Methodik}, volume = {51}, year = {2003} }  2002 Joachim Horn, Uwe D. Hanebeck, Konrad Riegel, Kai Heesche, Werner Hauptmann, Nonlinear Set–Theoretic Position Estimation of Cellular Phones,Ortung und Navigation, Deutsche Gesellschaft für Ortung und Navigation e.V. (DGON), 1:93–99, 2002. BibTeX: @article{DGON02_Horn, author = {Joachim Horn and Uwe D. Hanebeck and Konrad Riegel and Kai Heesche and Werner Hauptmann}, journal = {Ortung und Navigation, Deutsche Gesellschaft für Ortung und Navigation e.V. (DGON)}, owner = {klumpp}, pages = {93--99}, timestamp = {2007.05.23}, title = {Nonlinear Set--Theoretic Position Estimation of Cellular Phones}, volume = {1}, year = {2002} }  Norbert Nitzsche, Uwe D. Hanebeck, Günther Schmidt, Extending Telepresent Walking by Motion Compression,1. SFB-Aussprachetag Human Centered Robotic Systems (HCRS 2002), pp. 83–90, Karlsruhe, Germany, December, 2002. BibTeX: @inproceedings{HCRS02_Nitzsche, abstract = {Telepresent walking allows visiting remote places such as museums, exhibitions or industrial sites with a high degree of realism. While walking freely around in the user environment, the user sees the remote environment "through the eyes" of a remote mobile teleoperator. For that purpose, the user's motion is tracked and transferred to the teleoperator. Without additional processing of the motion data, the size of the remote environment to be explored is limited to the size of the user environment. This paper proposes an extension of telepresent walking to arbitrarily large remote or virtual spaces based on compressing wide area motion into the available user space. Motion Compression is a novel technique and does not make use of scaling or walking-in-place metaphors. Turning angles and travel distances are mapped with ratio 1:1.}, address = {Karlsruhe, Germany}, author = {Norbert Nitzsche and Uwe D. Hanebeck and Günther Schmidt}, booktitle = {1. SFB-Aussprachetag Human Centered Robotic Systems (HCRS 2002)}, month = {December}, owner = {klumpp}, pages = {83--90}, pdf = {HCRS02_Nitzsche.pdf}, timestamp = {2007.05.23}, title = {Extending Telepresent Walking by Motion Compression}, year = {2002} }  Uwe D. Hanebeck, Nonlinear Methods for State Estimation in Stochastic Dynamic Systems — A Concise Introduction,September, 2002. BibTeX: @phdthesis{Habil02_Hanebeck, author = {Uwe D. Hanebeck}, month = {September}, owner = {klumpp}, school = {Fakultät für Elektrotechnik und Informationstechnik, Technische Universität München, Referent: G.~Schmidt, Korreferent: V. Krebs}, timestamp = {2007.05.24}, title = {Nonlinear Methods for State Estimation in Stochastic Dynamic Systems --- A Concise Introduction}, type = {habilitation thesis}, year = {2002} }  Patrick Rö\ssler, Sascha A. Stoeter, Paul E. Rybski, Maria Gini, Nikolaos Papanikolopoulos, Visual Servoing of a Miniature Robot Toward a Marked Target,Proceedings of the IEEE International Conference on Digital Signal Processing, Santorini, Greece, July, 2002. BibTeX: @inproceedings{DSP02_Roessler, address = {Santorini, Greece}, author = {Patrick Rö\ssler and Sascha A. Stoeter and Paul E. Rybski and Maria Gini and Nikolaos Papanikolopoulos}, booktitle = {Proceedings of the IEEE International Conference on Digital Signal Processing}, month = {July}, owner = {klumpp}, timestamp = {2007.05.23}, title = {Visual Servoing of a Miniature Robot Toward a Marked Target}, year = {2002} }  Oliver Lorch, Javier F. Seara, Klaus H. Strobl, Uwe D. Hanebeck, Günther Schmidt, Perception Errors in Vision Guided Walking: Analysis, Modeling, and Filtering,Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA 2002), Washington D.C., USA, May, 2002. BibTeX: @inproceedings{ICRA02_Lorch, address = {Washington D.C., USA}, author = {Oliver Lorch and Javier F. Seara and Klaus H. Strobl and Uwe D. Hanebeck and Günther Schmidt}, booktitle = {Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA 2002)}, month = {May}, owner = {klumpp}, timestamp = {2007.05.23}, title = {Perception Errors in Vision Guided Walking: Analysis, Modeling, and Filtering}, url = {https://ieeexplore.ieee.org/document/1014842/}, year = {2002} }  Uwe D. Hanebeck, Joachim Horn, Konrad Riegel, Kai Heesche, Werner Hauptmann, Patent: Verfahren und Anordnung sowie Computerprogramm mit Programmcode–Mitteln und Computerprogramm–Produkt zur Ermittlung einer Position einer mobilen Kommunikationseinrichtung in einem Kommunikationsnetz,April, 2002. BibTeX: @misc{Hnb_Patent_2002, author = {Uwe D. Hanebeck and Joachim Horn and Konrad Riegel and Kai Heesche and Werner Hauptmann}, month = {April}, note = {applied for: 09.04.2002}, owner = {schrempf}, timestamp = {2007.06.03}, title = {Patent: Verfahren und Anordnung sowie Computerprogramm mit Programmcode--Mitteln und Computerprogramm--Produkt zur Ermittlung einer Position einer mobilen Kommunikationseinrichtung in einem Kommunikationsnetz}, year = {2002} }  Joachim Horn, Uwe D. Hanebeck, Konrad Riegel, Kai Heesche, Werner Hauptmann, Nonlinear Set–Theoretic Position Estimation of Cellular Phones,International Symposium on Location Based Services for Cellular Users (LOCELLUS 2002), Munich, Germany, April, 2002. BibTeX: @inproceedings{LOCELLUS02_Horn, address = {Munich, Germany}, author = {Joachim Horn and Uwe D. Hanebeck and Konrad Riegel and Kai Heesche and Werner Hauptmann}, booktitle = {International Symposium on Location Based Services for Cellular Users (LOCELLUS 2002)}, month = {April}, owner = {klumpp}, timestamp = {2007.05.23}, title = {Nonlinear Set--Theoretic Position Estimation of Cellular Phones}, year = {2002} }  2001 Uwe D. Hanebeck, A Square–Root Algorithm for Set Theoretic State Estimation,Proceedings of the 2001 European Control Conference (ECC 2001), Porto, Portugal, September, 2001. BibTeX: @inproceedings{ECC01_Hanebeck-SetTheoreticEst, abstract = {This paper presents a modified set theoretic framework for estimating the state of a linear dynamic system based on uncertain measurements. The measurement errors are assumed to be unknown but bounded by ellipsoidal sets. Based on this assumption, a recursive state estimator is (re-)derived in a tutorial fashion. It comprises both the prediction step (time update), i.e., propagation of a set of feasible states by means of the system model and the filter step (measurement update), i.e., inclusion of a new measurement into the current estimate. The main contribution is an efficient square-root formulation of this estimator, which is well suited especially for practical applications.}, address = {Porto, Portugal}, author = {Uwe D. Hanebeck}, booktitle = {Proceedings of the 2001 European Control Conference (ECC 2001)}, month = {September}, owner = {klumpp}, pdf = {ECC01_Hanebeck-SetTheoreticEst.pdf}, timestamp = {2007.05.23}, title = {A Square--Root Algorithm for Set Theoretic State Estimation}, year = {2001} }  Uwe D. Hanebeck, Joachim Horn, New Estimators for Mixed Stochastic and Set Theoretic Uncertainty Models: The General Case,Proceedings of the 2001 European Control Conference (ECC 2001), Porto, Portugal, September, 2001. BibTeX: @inproceedings{ECC01_HanebeckHorn-MixStochSetUncertainty, abstract = {New filters are derived for estimating the n-dimensional state of a linear dynamic system based on uncertain m- dimensional observations, which suffer from two types of uncertainties simultaneously. The first uncertainty is a stochastic process with given distribution. The second uncertainty is only known to be bounded, the exact underlying distribution is unknown. The new estimators combine set theoretic and stochastic estimation in a rigorous manner and provide a continuous transition between the two classical estimation concepts. They converge to a set theoretic estimator, when the stochastic error goes to zero, and to a Kalman filter, when the bounded error vanishes. In the mixed noise case, solution sets are provided that are uncertain in a stochastic sense.}, address = {Porto, Portugal}, author = {Uwe D. Hanebeck and Joachim Horn}, booktitle = {Proceedings of the 2001 European Control Conference (ECC 2001)}, month = {September}, owner = {klumpp}, pdf = {ECC01_HanebeckHorn-MixStochSetUncertainty.pdf}, timestamp = {2007.05.23}, title = {New Estimators for Mixed Stochastic and Set Theoretic Uncertainty Models: The General Case}, year = {2001} }  Norbert Nitzsche, Uwe D. Hanebeck, Günther Schmidt, Mobile Haptic Interaction with Extended Real or Virtual Environments,Proceedings of the 10th IEEE International Workshop on Robot–Human Interactive Communication (ROMAN 2001), Bordeaux/Paris, France, September, 2001. BibTeX: @inproceedings{ROMAN01_Nitzsche, abstract = {A mobile interface for physical interaction with extended real or virtual environments is presented, which frees the operator from being bound to a stationary workstation. The operator's unrestricted walking is available as input to the locomotion control of the teleoperator or the avatar. Hence, the operator uses proprioceptive perception of locomotion, which is required for navigation and wayfinding. To allow unrestricted local locomotion, the haptic interface moves along with the operator. This could be achieved by using a portable kinesthetic interface, which, however, is not capable of displaying large external forces. A mobile haptic interface, which actively follows the operator's locomotion. The corresponding locomotion platform is continuously positioned in such a way that maximum manipulability is guaranteed. In order to accomplish this under the kinematic and dynamic restrictions of the wheel-based platform, the operator's intention of locomotion is predicted. A prototype telepresence system for kinesthetic exploration of extended virtual environments has been designed according to the proposed paradigm, implemented, and tested.}, address = {Bordeaux/Paris, France}, author = {Norbert Nitzsche and Uwe D. Hanebeck and Günther Schmidt}, booktitle = {Proceedings of the 10th IEEE International Workshop on Robot--Human Interactive Communication (ROMAN 2001)}, month = {September}, pdf = {ROMAN01_Nitzsche.pdf}, title = {Mobile Haptic Interaction with Extended Real or Virtual Environments}, year = {2001} }  Uwe D. Hanebeck, Recursive Nonlinear Set–Theoretic Estimation Based on Pseudo–Ellipsoids,Proceedings of the 2001 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2001), pp. 159–164, Baden--Baden, Germany, August, 2001. BibTeX: @inproceedings{MFI01_Hanebeck-PseudoEllipsoids, abstracts = {In this paper, the problem of estimating a vector x of unknown quantities based on a set of measurements depending nonlinearly on x is considered. The measurements are assumed to be taken sequentially and are corrupted by unknown but bounded uncertainties. For this uncertainty model, a systematic design approach is introduced, which yields closed-form expressions for the desired nonlinear estimates. The estimates are recursively calculated and provide solution sets X containing the feasible sets, i.e., the sets of all x consistent with all the measurements available and their associated bounds. The sets X are tight upper bounds for the exact feasible sets and are in general not convex and not connected. The proposed design approach is versatile and the resulting nonlinear filter algorithms are both easy to implement and efficient.}, address = {Baden--Baden, Germany}, author = {Uwe D. Hanebeck}, booktitle = {Proceedings of the 2001 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2001)}, month = {August}, owner = {klumpp}, pages = {159--164}, pdf = {MFI01_Hanebeck-PseudoEllipsoids.pdf}, timestamp = {2007.05.23}, title = {Recursive Nonlinear Set--Theoretic Estimation Based on Pseudo--Ellipsoids}, year = {2001} }  Uwe D. Hanebeck, Kai Briechle, New Results for Stochastic Prediction and Filtering with Unknown Correlations,Proceedings of the 2001 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2001), pp. 147–152, Baden--Baden, Germany, August, 2001. BibTeX: @inproceedings{MFI01_HanebeckBriechle-UnknownCorr, abstract = {This paper considers state estimation for dynamic systems in the case of nonwhite, mutually correlated noise processes. Here, the problem is complicated by the fact, that only the individual covariances are known; cross covariances between random variables obtained by taking individual noise processes at different time steps and between different noise processes are completely unknown. New estimator equations for solving this problem are derived in feedback form for both the prediction step and for the filtering step based on existing ideas known as covariance intersection. Solutions are given for the most general case of updating an N-dimensional state vector estimate based on M-dimensional observations. Furthermore, computationally efficient solutions for obtaining minimum covariance estimates are derived to avoid numerical optimization otherwise required.}, address = {Baden--Baden, Germany}, author = {Uwe D. Hanebeck and Kai Briechle}, booktitle = {Proceedings of the 2001 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2001)}, month = {August}, owner = {klumpp}, pages = {147--152}, pdf = {MFI01_HanebeckBriechle-UnknownCorr.pdf}, timestamp = {2007.05.23}, title = {New Results for Stochastic Prediction and Filtering with Unknown Correlations}, year = {2001} }  Uwe D. Hanebeck, Kai Briechle, Joachim Horn, A Tight Bound for the Joint Covariance of Two Random Vectors with Unknown but Constrained Cross–Correlation,Proceedings of the 2001 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2001), pp. 85–90, Baden--Baden, Germany, August, 2001. BibTeX: @inproceedings{MFI01_HanebeckHorn-CovarianceBound, abstract = {This paper derives a fundamental result for processing two correlated random vectors with unknown cross-correlation, where constraints on the maximum absolute correlation coefficient are given. A tight upper bound for the joint covariance matrix is derived on the basis of the individual covariances and the correlation constraint. For symmetric constraints, the bounding covariance matrix naturally possesses zero cross covariances, which further increases their usefulness in applications. Performance is demonstrated by recursively propagating a state through a linear dynamical system suffering from stochastic noise correlated with the system state.}, address = {Baden--Baden, Germany}, author = {Uwe D. Hanebeck and Kai Briechle and Joachim Horn}, booktitle = {Proceedings of the 2001 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2001)}, month = {August}, owner = {klumpp}, pages = {85--90}, pdf = {MFI01_HanebeckHorn-CovarianceBound.pdf}, timestamp = {2007.05.23}, title = {A Tight Bound for the Joint Covariance of Two Random Vectors with Unknown but Constrained Cross--Correlation}, year = {2001} }  Uwe D. Hanebeck, Optimal Filtering for Polynomial Measurement Nonlinearities with Additive Non-Gaussian Noise,Proceedings of the 2001 American Control Conference (ACC 2001), pp. 5028–5033, Arlington, Virginia, USA, June, 2001. BibTeX: @inproceedings{ACC01_Hanebeck, abstract = {We consider the problem of estimating the n-dimensional state of a dynamic system based on m-dimensional discrete-time measurements. The measurements depend nonlinearly on the state and are corrupted by white non-Gaussian noise. The problem is solved by recursively calculating the complete posterior density of the state given the measurements. For that purpose, a new exponential type density is introduced, the so called pseudo Gaussian density, which is used to represent the complicated non-Gaussian posterior densities resulting from the recursion. For polynomial measurement nonlinearities and pseudo Gaussian noise densities, it is shown that the result of the optimal Bayesian measurement update is exactly obtained by a Kalman filter operating in a higher dimensional space. The resulting filtering algorithms are easy to implement and always guarantee valid posterior densities}, address = {Arlington, Virginia, USA}, author = {Uwe D. Hanebeck}, booktitle = {Proceedings of the 2001 American Control Conference (ACC 2001)}, month = {June}, pages = {5028--5033}, pdf = {ACC01_Hanebeck.pdf}, title = {Optimal Filtering for Polynomial Measurement Nonlinearities with Additive Non-Gaussian Noise}, year = {2001} }  Uwe D. Hanebeck, Joachim Horn, New Estimators for Mixed Stochastic and Set Theoretic Uncertainty Models: The General Case,Proceedings of the 2001 American Control Conference (ACC 2001), pp. 5040–5045, Arlington, Virginia, USA, June, 2001. BibTeX: @inproceedings{ACC01_HanebeckHorn-MixStochSetUncertainty, abstract = {New filters are derived for estimating the n-dimensional state of a linear dynamic system based on uncertain m-dimensional observations, which suffer from two types of uncertainties simultaneously. The first uncertainty is a stochastic process with given distribution. The second uncertainty is only known to be bounded, the exact underlying distribution is unknown. The new estimators combine set theoretic and stochastic estimation in a rigorous manner and provide a continuous transition between the two classical estimation concepts. They converge to a set theoretic estimator, when the stochastic error goes to zero, and to a Kalman filter, when the bounded error vanishes. In the mixed noise case, solution sets are provided that are uncertain in a stochastic sense}, address = {Arlington, Virginia, USA}, author = {Uwe D. Hanebeck and Joachim Horn}, booktitle = {Proceedings of the 2001 American Control Conference (ACC 2001)}, month = {June}, pages = {5040--5045}, title = {New Estimators for Mixed Stochastic and Set Theoretic Uncertainty Models: The General Case}, year = {2001} }  Uwe D. Hanebeck, Joachim Horn, Neue Ergebnisse zur Zustandsschätzung bei simultan auftretenden mengenbasierten und stochastischen Unsicherheiten,Tagungsband des GMA–Kongress Automatisierungstechnik im Spannungsfeld neuer Technologien 2001, Baden--Baden, Germany, May, 2001. BibTeX: @inproceedings{GMA01_Hanebeck, abstract = {Behandelt wird der allgemeine Fall der Schätzung des $n$--dimensionalen Zustands eines linearen dynamischen Systems auf der Grundlage von unsicheren $m$--dimensionalen Messungen, die simultan unter zwei unterschiedlichen Formen von Unsicherheit leiden. Die erste Unsicherheit ist durch einen stochastischen Prozess mit bekannter Charakteristik gegeben. Die zweite wird nur durch ihre Wertbegrenzung beschrieben, die Verteilungsdichte ist jedoch unbekannt. Das neue Filter verallgemeinert bekannte Konzepte wie das Kalman--Filter und das mengenbasierte Filter, und umfasst diese als Grenzfälle.}, address = {Baden--Baden, Germany}, author = {Uwe D. Hanebeck and Joachim Horn}, booktitle = {Tagungsband des GMA--Kongress Automatisierungstechnik im Spannungsfeld neuer Technologien 2001}, month = {May}, owner = {klumpp}, pdf = {GMA01_HanebeckHorn.pdf}, timestamp = {2007.05.23}, title = {Neue Ergebnisse zur Zustandsschätzung bei simultan auftretenden mengenbasierten und stochastischen Unsicherheiten}, year = {2001} }  Kai Briechle, Uwe D. Hanebeck, Template Matching using Fast Normalized Cross Correlation,Proceedings of SPIE, Vol. 4387, AeroSense Symposium, Orlando, Florida, USA, April, 2001. BibTeX: @inproceedings{SPIE01_BriechleHanebeck_CrossCorr, abstract = {In this paper we present an algorithm for fast calculation of the normalized cross correlation (NCC) and its application to the problem of template matching. Given a template t, whose position is to be determined in an image f, the basic idea of the algorithm is to represent the template, for which the normalized cross correlation is calculated, as a sum of rectangular basis functions. Then the correlation is calculated for each basis function instead of the whole template. The result of the correlation of the template t and the image f is obtained as the weighted sum of the correlation functions of the basis functions. Depending on the approximation, the algorithm can by far outperform Fourier-transform based implementations of the normalized cross correlation algorithm and it is especially suited to problems, where many different templates are to be found in the same image f.}, address = {Orlando, Florida, USA}, author = {Kai Briechle and Uwe D. Hanebeck}, booktitle = {Proceedings of SPIE, Vol. 4387, AeroSense Symposium}, month = {April}, owner = {klumpp}, pdf = {SPIE01_BriechleHanebeck_CrossCorr.pdf}, timestamp = {2007.05.23}, title = {Template Matching using Fast Normalized Cross Correlation}, year = {2001} }  Uwe D. Hanebeck, Joachim Horn, An Efficient Method for Simultaneous Map Building and Localization,Proceedings of SPIE, Vol. 4385, AeroSense Symposium, Orlando, Florida, USA, April, 2001. BibTeX: @inproceedings{SPIE01_HanebeckHorn-SLAM, abstract = {We consider the problem of simultaneously locating an observer and a set of environmental landmarks with respect to an inertial coordinate system, when both the observer position and the landmark positions are initially uncertain. For solving this problem, a new state estimator is introduced, which allows the problem to be consistently solved locally.}, address = {Orlando, Florida, USA}, author = {Uwe D. Hanebeck and Joachim Horn}, booktitle = {Proceedings of SPIE, Vol. 4385, AeroSense Symposium}, month = {April}, owner = {klumpp}, pdf = {SPIE01_HanebeckHorn-SLAM.pdf}, timestamp = {2007.05.23}, title = {An Efficient Method for Simultaneous Map Building and Localization}, year = {2001} }  2000 Uwe D. Hanebeck, Joachim Horn, Zustandsschätzung im Fall simultan auftretender mengenbasierter und stochastischer Unsicherheiten,at - Automatisierungstechnik, 48(6):265–272, Oldenbourg Verlag, 2000. BibTeX: @article{AT00_Hanebeck, author = {Uwe D. Hanebeck and Joachim Horn}, journal = {at - Automatisierungstechnik}, number = {6}, owner = {klumpp}, pages = {265--272}, publisher = {Oldenbourg Verlag}, timestamp = {2007.05.23}, title = {Zustandsschätzung im Fall simultan auftretender mengenbasierter und stochastischer Unsicherheiten}, url = {https://www.degruyter.com/view/j/auto.2000.48.issue-6_2000/auto.2000.48.6.265/auto.2000.48.6.265.xml}, volume = {48}, year = {2000} }  Uwe D. Hanebeck, Joachim Horn, Fusing Information Simultaneously Corrupted by Uncertainties with Known Bounds and Random Noise with Known Distribution,Information Fusion, Elsevier Science, 1(1):55–63, 2000. BibTeX: @article{IF00_Hanebeck, author = {Uwe D. Hanebeck and Joachim Horn}, journal = {Information Fusion, Elsevier Science}, number = {1}, owner = {klumpp}, pages = {55--63}, pdf = {IF00_Hanebeck.pdf}, timestamp = {2007.05.23}, title = {Fusing Information Simultaneously Corrupted by Uncertainties with Known Bounds and Random Noise with Known Distribution}, volume = {1}, year = {2000} }  Kai Briechle, Uwe D. Hanebeck, Ein Zwei–Karten–Verfahren zur gleichzeitigen Kartographierung und Lokalisierung,Autonome Mobile Systeme 2000 (AMS 2000), 16. Fachgespräch, Karlsruhe, Informatik Aktuell, Springer, November, 2000. BibTeX: @incollection{AMS00_Briechle, author = {Kai Briechle and Uwe D. Hanebeck}, booktitle = {Autonome Mobile Systeme 2000 (AMS 2000), 16.~Fachgespräch, Karlsruhe, Informatik Aktuell}, editor = {Rüdiger Dillmann and Heinz Wörn and Markus von Ehr}, month = {November}, owner = {klumpp}, publisher = {Springer}, timestamp = {2007.05.23}, title = {Ein Zwei--Karten--Verfahren zur gleichzeitigen Kartographierung und Lokalisierung}, url = {https://link.springer.com/chapter/10.1007/978-3-642-59576-9_20}, year = {2000} }  Nihad Šaldić, Uwe D. Hanebeck, Günther Schmidt, Modular Wheel Systems for Omnidirectional Service Robots,Proceedings of the 9th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2000), pp. 11–16, Maribor, Slovenia, June, 2000. BibTeX: @inproceedings{RAAD00_Saldic, address = {Maribor, Slovenia}, author = {Nihad Šaldić and Uwe D. Hanebeck and Günther Schmidt}, booktitle = {Proceedings of the 9th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2000)}, month = {June}, owner = {klumpp}, pages = {11--16}, timestamp = {2007.05.23}, title = {Modular Wheel Systems for Omnidirectional Service Robots}, year = {2000} }  Uwe D. Hanebeck, Nihad Šaldić, Franz Freyberger, Günther Schmidt, Modulare Radsatzsysteme für omnidirektionale mobile Roboter,Robotik 2000 Tagung (VDI/VDE-Gesellschaft Mess- und Automatisierungstechnik), VDI Berichte 1552, pp. 39–44, VDI, Berlin, June, 2000. BibTeX: @incollection{Robotik00_Hanebeck, author = {Uwe D. Hanebeck and Nihad Šaldić and Franz Freyberger and Günther Schmidt}, booktitle = {Robotik 2000 Tagung (VDI/VDE-Gesellschaft Mess- und Automatisierungstechnik), VDI Berichte 1552}, month = {June}, owner = {klumpp}, pages = {39--44}, publisher = {VDI, Berlin}, timestamp = {2007.05.23}, title = {Modulare Radsatzsysteme für omnidirektionale mobile Roboter}, url = {https://www.tib.eu/de/suchen/id/BLCP%3ACN035163165/Modulare-Radsatzsysteme-fur-omnidirektionale-mobile/}, year = {2000} }  1999 Günther Schmidt, Uwe D. Hanebeck, Franz Freyberger (Eds.), Autonome Mobile Systeme 1999, 15. Fachgespräch, München, 26.-27. November 1999,AMS, Springer, 1999. BibTeX: @proceedings{AMS99_Schmidt, booktitle = {AMS}, editor = {Günther Schmidt and Uwe D. Hanebeck and Franz Freyberger}, isbn = {3-540-66732-6}, publisher = {Springer}, series = {Informatik Aktuell}, title = {Autonome Mobile Systeme 1999, 15.~Fachgespräch, München, 26.-27. November 1999}, year = {1999} }  Uwe D. Hanebeck, Joachim Horn, New Estimators for Mixed Stochastic and Set Theoretic Uncertainty Models: The Scalar Measurement Case,Proceedings of the 1999 IEEE Conference on Decision and Control (CDC 1999), pp. 1934–1939, Phoenix, Arizona, USA, December, 1999. BibTeX: @inproceedings{CDC99_Hanebeck, address = {Phoenix, Arizona, USA}, author = {Uwe D. Hanebeck and Joachim Horn}, booktitle = {Proceedings of the 1999 IEEE Conference on Decision and Control (CDC 1999)}, month = {December}, owner = {klumpp}, pages = {1934--1939}, pdf = {CDC99.pdf}, timestamp = {2007.05.23}, title = {New Estimators for Mixed Stochastic and Set Theoretic Uncertainty Models: The Scalar Measurement Case}, year = {1999} }  Kai Briechle, Uwe D. Hanebeck, Simultane Lokalisierung und Kartenaufbau für einen mobilen Serviceroboter,Autonome Mobile Systeme 1999 (AMS 1999), 15. Fachgespräch, München, Informatik Aktuell, pp. 200–210, Springer, November, 1999. BibTeX: @incollection{AMS99_Briechle, author = {Kai Briechle and Uwe D. Hanebeck}, booktitle = {Autonome Mobile Systeme 1999 (AMS 1999), 15.~Fachgespräch, München, Informatik Aktuell}, editor = {Günther Schmidt and Uwe D. Hanebeck and Franz Freyberger}, month = {November}, owner = {klumpp}, pages = {200--210}, publisher = {Springer}, timestamp = {2007.05.23}, title = {Simultane Lokalisierung und Kartenaufbau für einen mobilen Serviceroboter}, year = {1999} }  Uwe D. Hanebeck, Joachim Horn, A New Concept for State Estimation in the Presence of Stochastic and Set Theoretic Uncertainties,Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 1999), Kjongju, Republic of Korea, October, 1999. BibTeX: @inproceedings{IROS99_HanebeckHorn-StochSetUncert, address = {Kjongju, Republic of Korea}, author = {Uwe D. Hanebeck and Joachim Horn}, booktitle = {Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 1999)}, month = {October}, owner = {klumpp}, pdf = {IROS99_SSI.pdf}, timestamp = {2007.05.23}, title = {A New Concept for State Estimation in the Presence of Stochastic and Set Theoretic Uncertainties}, year = {1999} }  Uwe D. Hanebeck, Nihad Šaldić, A Modular Wheel System for Mobile Robot Applications,Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 1999), Kjongju, Republic of Korea, October, 1999. BibTeX: @inproceedings{IROS99_HanebeckSaldic-WheelSystem, address = {Kjongju, Republic of Korea}, author = {Uwe D. Hanebeck and Nihad Šaldić}, booktitle = {Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 1999)}, month = {October}, owner = {klumpp}, pdf = {IROS99_WHEEL.pdf}, timestamp = {2007.05.23}, title = {A Modular Wheel System for Mobile Robot Applications}, year = {1999} }  Kai Briechle, Uwe D. Hanebeck, Self–Localization of a Mobile Robot Using a Fast Cross–Correlation Algorithm,Proceedings of the 1999 IEEE Systems, Man, and Cybernetics Conference (SMC 1999), Tokyo, Japan, October, 1999. BibTeX: @inproceedings{SMC99_Briechle-SLAM, address = {Tokyo, Japan}, author = {Kai Briechle and Uwe D. Hanebeck}, booktitle = {Proceedings of the 1999 IEEE Systems, Man, and Cybernetics Conference (SMC 1999)}, month = {October}, owner = {klumpp}, pdf = {SMC99_FNCC.pdf}, timestamp = {2007.05.23}, title = {Self--Localization of a Mobile Robot Using a Fast Cross--Correlation Algorithm}, year = {1999} }  Uwe D. Hanebeck, Joachim Horn, New Results for State Estimation in the Presence of Mixed Stochastic and Set Theoretic Uncertainties,Proceedings of the 1999 IEEE Systems, Man, and Cybernetics Conference (SMC 1999), Tokyo, Japan, October, 1999. BibTeX: @inproceedings{SMC99_Hanebeck-MixStochSetUncert, address = {Tokyo, Japan}, author = {Uwe D. Hanebeck and Joachim Horn}, booktitle = {Proceedings of the 1999 IEEE Systems, Man, and Cybernetics Conference (SMC 1999)}, month = {October}, owner = {klumpp}, pdf = {SMC99_SSI.pdf}, timestamp = {2007.05.23}, title = {New Results for State Estimation in the Presence of Mixed Stochastic and Set Theoretic Uncertainties}, year = {1999} }  Uwe D. Hanebeck, Joachim Horn, New Estimators for Mixed Stochastic and Set Theoretic Uncertainty Models: The Vector Case,Proceedings of the 5th European Control Conference (ECC 1999), Karlsruhe, Germany, September, 1999. BibTeX: @inproceedings{ECC99_Hanebeck, address = {Karlsruhe, Germany}, author = {Uwe D. Hanebeck and Joachim Horn}, booktitle = {Proceedings of the 5th European Control Conference (ECC 1999)}, month = {September}, owner = {klumpp}, pdf = {ECC99.pdf}, timestamp = {2007.05.23}, title = {New Estimators for Mixed Stochastic and Set Theoretic Uncertainty Models: The Vector Case}, year = {1999} }  Uwe D. Hanebeck, Joachim Horn, Günther Schmidt, On Combining Statistical and Set Theoretic Estimation,Automatica, 35(6):1101–1109, June, 1999. BibTeX: @article{AUTO99_Hanebeck, author = {Uwe D. Hanebeck and Joachim Horn and Günther Schmidt}, journal = {Automatica}, month = {June}, number = {6}, owner = {klumpp}, pages = {1101--1109}, pdf = {AUTO99_Hanebeck.pdf}, timestamp = {2007.05.23}, title = {On Combining Statistical and Set Theoretic Estimation}, volume = {35}, year = {1999} }  Uwe D. Hanebeck, Joachim Horn, A New Estimator for Mixed Stochastic and Set Theoretic Uncertainty Models Applied to Mobile Robot Localization,Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA 1999), pp. 1335–1340, Detroit, Michigan, USA, May, 1999. BibTeX: @inproceedings{ICRA99_Hanebeck, address = {Detroit, Michigan, USA}, author = {Uwe D. Hanebeck and Joachim Horn}, booktitle = {Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA 1999)}, month = {May}, owner = {klumpp}, pages = {1335--1340}, pdf = {ICRA99_SSI.pdf}, timestamp = {2007.05.23}, title = {A New Estimator for Mixed Stochastic and Set Theoretic Uncertainty Models Applied to Mobile Robot Localization}, year = {1999} }  Uwe D. Hanebeck, Joachim Horn, A New State Estimator for a Mixed Stochastic and Set Theoretic Uncertainty Model,Proceedings of SPIE, Vol. 3720, AeroSense Symposium, pp. 336–344, Orlando, Florida, USA, April, 1999. BibTeX: @inproceedings{SPIE99_Hanebeck, address = {Orlando, Florida, USA}, author = {Uwe D. Hanebeck and Joachim Horn}, booktitle = {Proceedings of SPIE, Vol. 3720, AeroSense Symposium}, month = {April}, owner = {klumpp}, pages = {336--344}, pdf = {SPIE99.pdf}, timestamp = {2007.05.23}, title = {A New State Estimator for a Mixed Stochastic and Set Theoretic Uncertainty Model}, year = {1999} }  1998 Uwe D. Hanebeck, Günther Schmidt, Mobile Robot Localization Based on Efficient Processing of Sensor Data and Set-theoretic State Estimation,Experimental Robotics V, The Fifth International Symposium, Barcelona, Catalonia, Lecture Notes in Control and Information Sciences 223, pp. 385–396, Springer, Barcelona, Spain, 1998. BibTeX: @incollection{ISER98_Hanebeck, address = {Barcelona, Spain}, author = {Uwe D. Hanebeck and Günther Schmidt}, booktitle = {Experimental Robotics V, The Fifth International Symposium, Barcelona, Catalonia, Lecture Notes in Control and Information Sciences 223}, editor = {A. Casals and A. T. de Almeida}, owner = {klumpp}, pages = {385--396}, publisher = {Springer}, timestamp = {2007.05.23}, title = {Mobile Robot Localization Based on Efficient Processing of Sensor Data and Set-theoretic State Estimation}, url = {https://link.springer.com/chapter/10.1007/BFb0112978}, year = {1998} }  Ralf Furtwängler, Uwe D. Hanebeck, Günther Schmidt, Dynamische Bänder zur Bewegungsplanung für mobile Manipulatoren,Autonome Mobile Systeme 1998 (AMS 1998), 14. Fachgespräch, Karlsruhe, Informatik Aktuell, pp. 164–171, Springer, November, 1998. BibTeX: @incollection{AMS98_Furtwaengler, author = {Ralf Furtwängler and Uwe D. Hanebeck and Günther Schmidt}, booktitle = {Autonome Mobile Systeme 1998 (AMS 1998), 14.~Fachgespräch, Karlsruhe, Informatik Aktuell}, editor = {Heinz Wörn and Rüdiger Dillmann and Dominik Henrich}, month = {November}, owner = {klumpp}, pages = {164--171}, publisher = {Springer}, timestamp = {2007.05.23}, title = {Dynamische Bänder zur Bewegungsplanung für mobile Manipulatoren}, url = {https://link.springer.com/chapter/10.1007/978-3-642-60043-2_20}, year = {1998} }  Günther Schmidt, Uwe D. Hanebeck, Aspects of Human–Robot–Communication for a Semi–autonomous Robotic Assistant for the Health Care Environment,Proceedings of 7th IEEE International Workshop on Robot and Human Communication (ROMAN 1998), pp. 187–194, Takamatsu, Japan, September, 1998. BibTeX: @inproceedings{ROMAN98_Schmidt, address = {Takamatsu, Japan}, author = {Günther Schmidt and Uwe D. Hanebeck}, booktitle = {Proceedings of 7th IEEE International Workshop on Robot and Human Communication (ROMAN 1998)}, month = {September}, owner = {klumpp}, pages = {187-194}, timestamp = {2007.05.23}, title = {Aspects of Human--Robot--Communication for a Semi--autonomous Robotic Assistant for the Health Care Environment}, year = {1998} }  Eugen Ettelt, Ralf Furtwängler, Uwe D. Hanebeck, Günther Schmidt, Design Issues of a Semi–Autonomous Robotic Assistant for the Health Care Environment,Journal of Intelligent and Robotic Systems, Kluwer Academic Publishers, 22(3--4):191–209, July, 1998. BibTeX: @article{JIRSTA98_Ettelt, author = {Eugen Ettelt and Ralf Furtwängler and Uwe D. Hanebeck and Günther Schmidt}, journal = {Journal of Intelligent and Robotic Systems, Kluwer Academic Publishers}, month = {July}, number = {3--4}, owner = {klumpp}, pages = {191--209}, timestamp = {2007.05.23}, title = {Design Issues of a Semi--Autonomous Robotic Assistant for the Health Care Environment}, url = {https://link.springer.com/article/10.1023/A:1008082024638}, volume = {22}, year = {1998} }  Ralf Furtwängler, Uwe D. Hanebeck, Günther Schmidt, Dynamic Control of a Mobile Manipulator,Proceedings of the 5th International Workshop on Advanced Motion Control (AMC 1998), pp. 440–445, Coimbra, Portugal, June, 1998. BibTeX: @inproceedings{AMC98_Furtwaengler, address = {Coimbra, Portugal}, author = {Ralf Furtwängler and Uwe D. Hanebeck and Günther Schmidt}, booktitle = {Proceedings of the 5th International Workshop on Advanced Motion Control (AMC 1998)}, month = {June}, owner = {klumpp}, pages = {440-445}, timestamp = {2007.05.23}, title = {Dynamic Control of a Mobile Manipulator}, url = {https://ieeexplore.ieee.org/document/743577/}, year = {1998} }  Uwe D. Hanebeck, Pipelined Sampling Techniques for Sonar Tracking Systems,Proceedings of the 1998 IEEE International Conference on Robotics and Automation (ICRA 1998), pp. 2813–2818, Leuven, Belgium, May, 1998. BibTeX: @inproceedings{ICRA98_Hanebeck, address = {Leuven, Belgium}, author = {Uwe D. Hanebeck}, booktitle = {Proceedings of the 1998 IEEE International Conference on Robotics and Automation (ICRA 1998)}, month = {May}, owner = {klumpp}, pages = {2813-2818}, timestamp = {2007.05.23}, title = {Pipelined Sampling Techniques for Sonar Tracking Systems}, url = {https://ieeexplore.ieee.org/document/680477/}, year = {1998} }  1997 Uwe D. Hanebeck, Lokalisierung eines mobilen Roboters mittels effizienter Auswertung von Sensordaten und mengenbasierter Zustandsschätzung,1997. BibTeX: @phdthesis{Diss97_Hanebeck, author = {Uwe D. Hanebeck}, note = {ISBN 3-18-364308-1}, owner = {klumpp}, pdf = {Diss_Hnb_1997.pdf}, school = {TU München, Referent: G.~Schmidt, Korreferent: E.~D.~Dickmanns, Fortschrittsberichte VDI, Reihe 8: Meß-, Steuerungs- und Regelungstechnik, Nr. 643, VDI Verlag, Düsseldorf}, timestamp = {2007.05.24}, title = {Lokalisierung eines mobilen Roboters mittels effizienter Auswertung von Sensordaten und mengenbasierter Zustandsschätzung}, type = {Dissertation}, year = {1997} }  Günther Schmidt, Uwe D. Hanebeck, Christian Fischer, A Mobile Service Robot for the Hospital and Home Environment,International Advanced Robotics Programme (IARP 1997), Proceedings of the Second International Workshop on Service and Personal Robots: Technologies and Applications, Genova, Italy, October, 1997. BibTeX: @inproceedings{IARP97_Hanebeck, address = {Genova, Italy}, author = {Günther Schmidt and Uwe D. Hanebeck and Christian Fischer}, booktitle = {International Advanced Robotics Programme (IARP 1997), Proceedings of the Second International Workshop on Service and Personal Robots: Technologies and Applications}, month = {October}, owner = {klumpp}, timestamp = {2007.05.23}, title = {A Mobile Service Robot for the Hospital and Home Environment}, year = {1997} }  Uwe D. Hanebeck, Christian Fischer, Günther Schmidt, ROMAN: A Mobile Robotic Assistant for Indoor Service Applications,Proceedings of the 1997 IEEE/RSJ/GI International Conference on Intelligent Robots and Systems (IROS 1997), pp. 518–525, Grenoble, France, September, 1997. BibTeX: @inproceedings{IROS97_Hanebeck, address = {Grenoble, France}, author = {Uwe D. Hanebeck and Christian Fischer and Günther Schmidt}, booktitle = {Proceedings of the 1997 IEEE/RSJ/GI International Conference on Intelligent Robots and Systems (IROS 1997)}, month = {September}, owner = {klumpp}, pages = {518-525}, timestamp = {2007.05.23}, title = {ROMAN: A Mobile Robotic Assistant for Indoor Service Applications}, url = {https://ieeexplore.ieee.org/document/655061/}, year = {1997} }  Uwe D. Hanebeck, Günther Schmidt, Mobile Robot Localization Based on Efficient Processing of Sensor Data and Set–theoretic State Estimation,Fifth International Symposium on Experimental Robotics (ISER 1997), pp. 321–332, Barcelona, Spain, June, 1997. BibTeX: @inproceedings{ISER97_Hanebeck, address = {Barcelona, Spain}, author = {Uwe D. Hanebeck and Günther Schmidt}, booktitle = {Fifth International Symposium on Experimental Robotics (ISER 1997)}, month = {June}, owner = {klumpp}, pages = {321-332}, timestamp = {2007.05.23}, title = {Mobile Robot Localization Based on Efficient Processing of Sensor Data and Set--theoretic State Estimation}, year = {1997} }  1996 Uwe D. Hanebeck, Günther Schmidt, Localization of Fast Mobile Robots Based on an Advanced Angle–Measurement Technique,IFAC Control Engineering Practice, Elsevier Science, 4(8):1109–1118, 1996. BibTeX: @article{CEP96_Hanebeck, author = {Uwe D. Hanebeck and Günther Schmidt}, journal = {IFAC Control Engineering Practice, Elsevier Science}, number = {8}, owner = {klumpp}, pages = {1109--1118}, pdf = {CEP96_Hanebeck.pdf}, timestamp = {2007.05.23}, title = {Localization of Fast Mobile Robots Based on an Advanced Angle--Measurement Technique}, volume = {4}, year = {1996} }  Uwe D. Hanebeck, Günther Schmidt, Genetic Optimization of Fuzzy Networks,Journal of Fuzzy Sets and Systems, Special Issue on Neuro–Fuzzy Techniques and Applications, Elsevier Science, 79:59–68, 1996. BibTeX: @article{FSS96_Hanebeck, author = {Uwe D. Hanebeck and Günther Schmidt}, journal = {Journal of Fuzzy Sets and Systems, Special Issue on Neuro--Fuzzy Techniques and Applications, Elsevier Science}, owner = {klumpp}, pages = {59--68}, pdf = {FSS96_Hanebeck.pdf}, timestamp = {2007.05.23}, title = {Genetic Optimization of Fuzzy Networks}, volume = {79}, year = {1996} }  Wolfgang Daxwanger, Eugen Ettelt, Christian Fischer, Franz Freyberger, Uwe D. Hanebeck, Günther Schmidt, ROMAN: Ein mobiler Serviceroboter als persönlicher Assistent in belebten Innenräumen,Autonome Mobile Systeme 1996 (AMS 1996), 12. Fachgespräch, München, Informatik aktuell, pp. 314–333, Springer, October, 1996. BibTeX: @incollection{AMS96_Daxwanger, author = {Wolfgang Daxwanger and Eugen Ettelt and Christian Fischer and Franz Freyberger and Uwe D. Hanebeck and Günther Schmidt}, booktitle = {Autonome Mobile Systeme 1996 (AMS 1996), 12.~Fachgespräch, München, Informatik aktuell}, editor = {Günther Schmidt and Franz Freyberger}, month = {October}, owner = {klumpp}, pages = {314--333}, publisher = {Springer}, timestamp = {2007.05.23}, title = {ROMAN: Ein mobiler Serviceroboter als persönlicher Assistent in belebten Innenräumen}, url = {https://link.springer.com/chapter/10.1007/978-3-642-80324-6_29}, year = {1996} }  Uwe D. Hanebeck, Günther Schmidt, Closed–Form Elliptic Location with an Arbitrary Array Topology,Proceedings of the 1996 IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP 1996), pp. 3070–3073, Atlanta, Georgia, USA, May, 1996. BibTeX: @inproceedings{ICASSP96_Hanebeck, address = {Atlanta, Georgia, USA}, author = {Uwe D. Hanebeck and Günther Schmidt}, booktitle = {Proceedings of the 1996 IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP 1996)}, month = {May}, owner = {klumpp}, pages = {3070-3073}, timestamp = {2007.05.23}, title = {Closed--Form Elliptic Location with an Arbitrary Array Topology}, url = {https://ieeexplore.ieee.org/document/550524/}, year = {1996} }  Uwe D. Hanebeck, Joachim Horn, Günther Schmidt, On Combining Set Theoretic and Bayesian Estimation,Proceedings of the 1996 IEEE International Conference on Robotics and Automation (ICRA 1996), pp. 3081–3086, Minneapolis, Minnesota, USA, April, 1996. BibTeX: @inproceedings{ICRA96_Hanebeck-SetBayes, address = {Minneapolis, Minnesota, USA}, author = {Uwe D. Hanebeck and Joachim Horn and Günther Schmidt}, booktitle = {Proceedings of the 1996 IEEE International Conference on Robotics and Automation (ICRA 1996)}, month = {April}, owner = {klumpp}, pages = {3081-3086}, timestamp = {2007.05.23}, title = {On Combining Set Theoretic and Bayesian Estimation}, url = {https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=509180}, year = {1996} }  Uwe D. Hanebeck, Günther Schmidt, Set theoretic Localization of Fast Mobile Robots Using an Angle Measurement Technique,Proceedings of the 1996 IEEE International Conference on Robotics and Automation (ICRA 1996), pp. 1387–1394, Minneapolis, Minnesota, USA, April, 1996. BibTeX: @inproceedings{ICRA96_HanebeckSchmidt-Angle, address = {Minneapolis, Minnesota, USA}, author = {Uwe D. Hanebeck and Günther Schmidt}, booktitle = {Proceedings of the 1996 IEEE International Conference on Robotics and Automation (ICRA 1996)}, month = {April}, owner = {klumpp}, pages = {1387-1394}, pdf = {ICRA96_HanebeckSchmidt-Angle.pdf}, timestamp = {2007.05.23}, title = {Set theoretic Localization of Fast Mobile Robots Using an Angle Measurement Technique}, year = {1996} }  1995 Uwe D. Hanebeck, Günther Schmidt, A New High Performance Multisonar System for Fast Mobile Robot Applications,Intelligent Robots and Systems, pp. 1–14, Elsevier Science, 1995. BibTeX: @incollection{IRS95_Hanebeck, author = {Uwe D. Hanebeck and Günther Schmidt}, booktitle = {Intelligent Robots and Systems}, editor = {V. Graefe}, owner = {klumpp}, pages = {1--14}, publisher = {Elsevier Science}, timestamp = {2007.05.23}, title = {A New High Performance Multisonar System for Fast Mobile Robot Applications}, url = {https://www.sciencedirect.com/science/article/pii/B9780444822505500013}, year = {1995} }  Uwe D. Hanebeck, Günther Schmidt, Schnelle Objektdetektion mit Ultraschallsensor–Arrays,Autonome Mobile Systeme 1995 (AMS 1995), 11. Fachgespräch, Karlsruhe, Informatik Aktuell, pp. 162–171, Springer, November, 1995. BibTeX: @incollection{AMS95_Hanebeck, author = {Uwe D. Hanebeck and Günther Schmidt}, booktitle = {Autonome Mobile Systeme 1995 (AMS 1995), 11.~Fachgespräch, Karlsruhe, Informatik Aktuell}, editor = {Rüdiger Dillmann and Ulrich Rembold and Tim Lüth}, month = {November}, owner = {klumpp}, pages = {162--171}, publisher = {Springer}, timestamp = {2007.05.23}, title = {Schnelle Objektdetektion mit Ultraschallsensor--Arrays}, url = {https://link.springer.com/chapter/10.1007/978-3-642-80064-1_17}, year = {1995} }  Uwe D. Hanebeck, Günther Schmidt, Absolute Localization of Fast Mobile Robots Based on an Angle Measurement Technique,IFAC Workshop on Intelligent Components for Autonomous and Semi-Autonomous Vehicles (ICASAV 1995), pp. 87–92, Toulouse, France, October, 1995. BibTeX: @inproceedings{ICASAV95_Hanebeck, address = {Toulouse, France}, author = {Uwe D. Hanebeck and Günther Schmidt}, booktitle = {IFAC Workshop on Intelligent Components for Autonomous and Semi-Autonomous Vehicles (ICASAV 1995)}, month = {October}, owner = {klumpp}, pages = {87-92}, timestamp = {2007.05.23}, title = {Absolute Localization of Fast Mobile Robots Based on an Angle Measurement Technique}, year = {1995} }  Uwe D. Hanebeck, Günther K. Schmidt, Absolute Localization of Fast Mobile Robots Based on an Angle Measurement Technique,19th Annual German Conference on Artificial Intelligence (KI'95), Bielefeld, KI–95 Activities: Workshops, Posters, Demos, pp. 164–166, Gesellschaft für Informatik e.V., Bielefeld, Germany, September, 1995. BibTeX: @incollection{KI95_Hanebeck, address = {Bielefeld, Germany}, author = {Uwe D. Hanebeck and Günther K. Schmidt}, booktitle = {19th Annual German Conference on Artificial Intelligence (KI'95), Bielefeld, KI--95 Activities: Workshops, Posters, Demos}, editor = {Leonie Dreschler--Fischer and Simone Pribbenow}, month = {September}, owner = {klumpp}, pages = {164--166}, publisher = {Gesellschaft für Informatik e.V.}, timestamp = {2007.05.23}, title = {Absolute Localization of Fast Mobile Robots Based on an Angle Measurement Technique}, year = {1995} }  Stefan Maier, Uwe D. Hanebeck, Fuzzy Guidance of Omnidirectional Mobile Robots Including Sensor–Based Obstacle Avoidance,Proceedings of the TELEMAN Student Research Projects Congress, pp. 95–100, Noordwijkerhout, Netherlands, July, 1995. BibTeX: @inproceedings{TELEMAN95_Maier, address = {Noordwijkerhout, Netherlands}, author = {Stefan Maier and Uwe D. Hanebeck}, booktitle = {Proceedings of the TELEMAN Student Research Projects Congress}, month = {July}, owner = {klumpp}, pages = {95--100}, timestamp = {2007.05.23}, title = {Fuzzy Guidance of Omnidirectional Mobile Robots Including Sensor--Based Obstacle Avoidance}, year = {1995} }  1994 Uwe D. Hanebeck, Günther K. Schmidt, Optimization of Fuzzy Networks via Genetic Algorithms,Proceedings of the 1994 International Conference on Neural Information Processing (ICONIP 1994), pp. 1583–1588, Seoul, Republic of Korea, October, 1994. BibTeX: @inproceedings{ICONIP94_Hanebeck, address = {Seoul, Republic of Korea}, author = {Uwe D. Hanebeck and Günther K. Schmidt}, booktitle = {Proceedings of the 1994 International Conference on Neural Information Processing (ICONIP 1994)}, month = {October}, owner = {klumpp}, pages = {1583--1588}, timestamp = {2007.05.23}, title = {Optimization of Fuzzy Networks via Genetic Algorithms}, year = {1994} }  Uwe D. Hanebeck, Günther Schmidt, Optimization of Fuzzy Networks via Genetic Algorithms,Proceedings of the 2nd European Congress on Intelligent Techniques and Soft Computing (EUFIT 1994), pp. 1011–1013, Aachen, Germany, September, 1994. BibTeX: @inproceedings{EUFIT94_Hanebeck, address = {Aachen, Germany}, author = {Uwe D. Hanebeck and Günther Schmidt}, booktitle = {Proceedings of the 2nd European Congress on Intelligent Techniques and Soft Computing (EUFIT 1994)}, month = {September}, owner = {klumpp}, pages = {1011--1013}, timestamp = {2007.05.23}, title = {Optimization of Fuzzy Networks via Genetic Algorithms}, year = {1994} }  Uwe D. Hanebeck, Günther Schmidt, A New High Performance Multisonar System for Fast Mobile Robots,Proceedings of the 1994 IEEE/RSJ/GI International Conference on Intelligent Robots and Systems (IROS 1994), pp. 1853–1860, Munich, Germany, September, 1994. BibTeX: @inproceedings{IROS94_Hanebeck, address = {Munich, Germany}, author = {Uwe D. Hanebeck and Günther Schmidt}, booktitle = {Proceedings of the 1994 IEEE/RSJ/GI International Conference on Intelligent Robots and Systems (IROS 1994)}, month = {September}, owner = {klumpp}, pages = {1853--1860}, timestamp = {2007.05.23}, title = {A New High Performance Multisonar System for Fast Mobile Robots}, url = {https://ieeexplore.ieee.org/document/407607/}, year = {1994} }  1993 Uwe D. Hanebeck, Günther Schmidt, Experimentelle Vertiefung der Ausbildung im Fuzzy-Logik-Reglerentwurf,at - Automatisierungstechnik, 41(8):300–306, Oldenbourg Verlag, 1993. BibTeX: @article{AT93_Hanebeck, author = {Uwe D. Hanebeck and Günther Schmidt}, journal = {at - Automatisierungstechnik}, number = {8}, owner = {klumpp}, pages = {300--306}, publisher = {Oldenbourg Verlag}, timestamp = {2007.05.23}, title = {Experimentelle Vertiefung der Ausbildung im Fuzzy-Logik-Reglerentwurf}, url = {https://www.degruyter.com/view/j/auto.1993.41.issue-8/auto-1993-0806/auto-1993-0806.xml}, volume = {41}, year = {1993} }  Günther Schmidt, Uwe D. Hanebeck, Teaching Fuzzy Logic Control Design Through Laboratory Experiments and Student Projects,Proceedings of the 12th World Congress of the International Federation of Automatic Control (IFAC 1993), pp. 147–150, Sydney, Australia, July, 1993. BibTeX: @inproceedings{IFAC93_Hanebeck, address = {Sydney, Australia}, author = {Günther Schmidt and Uwe D. Hanebeck}, booktitle = {Proceedings of the 12th World Congress of the International Federation of Automatic Control (IFAC 1993)}, month = {July}, owner = {klumpp}, pages = {147--150}, timestamp = {2007.05.23}, title = {Teaching Fuzzy Logic Control Design Through Laboratory Experiments and Student Projects}, url = {https://www.sciencedirect.com/science/article/pii/S1474667017483716}, year = {1993} }  1991 Uwe D. Hanebeck, Untersuchungen zur Verwendung von Markov-Prozessen für die Erzeugung von Sprachmodellsignalen,1991. BibTeX: @mastersthesis{DA91_Hanebeck, author = {Uwe D. Hanebeck}, owner = {klumpp}, school = {Arbeitsgruppe Digitale Signalverarbeitung, Prof. Dr.--Ing. Ulrich Heute, Lehrstuhl für Nachrichtentechnik, Ruhr--Universität Bochum}, timestamp = {2007.05.24}, title = {Untersuchungen zur Verwendung von Markov-Prozessen für die Erzeugung von Sprachmodellsignalen}, year = {1991} }  1989 Uwe D. Hanebeck, Aufbau einer Signalprozessorkarte für den DSP 5011,1989. BibTeX: @mastersthesis{SA89_Hanebeck, author = {Uwe D. Hanebeck}, owner = {klumpp}, school = {Lehrstuhl für Nachrichtentechnik, Prof. Dr. Dr. h.c. mult. Alfred Fettweis, Ruhr--Universität Bochum}, timestamp = {2007.05.24}, title = {Aufbau einer Signalprozessorkarte für den DSP 5011}, type = {Studienarbeit}, year = {1989} }