Summary

Conference Proceedings
Journal Articles
Editorials
Book Chapters
Recent Preprints
Patents

2023

Point Cloud Registration based on Gaussian Mixtures and Pairwise Wasserstein Distances

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

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

BibTex DOI Source Code


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

Single-Frame Radar Odometry Incorporating Bearing Uncertainty

K. Thormann and M. Baum

2023 IEEE Symposium Sensor Data Fusion and International Conference on Multisensor Fusion and Integration (SDF-MFI), 2023.
Best Paper Award, 2nd Runner Up

BibTex DOI Source Code


@inproceedings{2023_Thormann,
  author = {Thormann, Kolja and Baum, Marcus},
  booktitle = {2023 IEEE Symposium Sensor Data Fusion and International Conference on Multisensor Fusion and Integration (SDF-MFI)},
  title = {Single-Frame Radar Odometry Incorporating Bearing Uncertainty},
  year = {2023},
  month = nov,
  publisher = {IEEE},
  award = {Best Paper Award, 2nd Runner Up},
  code = {https://github.com/Fusion-Goettingen/MFI_2023_Thormann_Radar_Odometry},
  doi = {10.1109/sdf-mfi59545.2023.10361339}
}

Evaluation Scores for Elliptic Extended Object Tracking Considering Diverse Object Sizes

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

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

BibTex DOI Source Code


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

Improved Extended Object Tracking with Efficient Particle-based Orientation Estimation

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

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

BibTex DOI Source Code


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

Track-to-track Association based on Stochastic Optimization

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

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

BibTex DOI Source Code


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

Multitarget–Multidetection Tracking Using the Kernel SME Filter

E. Ernst, F. Pfaff, M. Baum, and U. D. Hanebeck

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

BibTex DOI


@inproceedings{2023_Ernst,
  author = {Ernst, Eugen and Pfaff, Florian and Baum, Marcus and Hanebeck, Uwe D.},
  booktitle = {2023 26th International Conference on Information Fusion (FUSION)},
  title = {Multitarget–Multidetection Tracking Using the Kernel SME Filter},
  year = {2023},
  month = jun,
  publisher = {IEEE},
  doi = {10.23919/fusion52260.2023.10224206}
}

Adaptive Kalman Filter Tracking for Instantaneous Aircraft Flutter Monitoring

R. Volkmar, K. Thormann, K. Soal, Y. Govers, M. Böswald, and M. Baum

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

BibTex DOI


@inproceedings{2023_Volkmar,
  author = {Volkmar, Robin and Thormann, Kolja and Soal, Keith and Govers, Yves and Böswald, Marc and Baum, Marcus},
  booktitle = {2023 26th International Conference on Information Fusion (FUSION)},
  title = {Adaptive Kalman Filter Tracking for Instantaneous Aircraft Flutter Monitoring},
  year = {2023},
  month = jun,
  publisher = {IEEE},
  doi = {10.23919/fusion52260.2023.10224091}
}

The Kernel-SME Filter with Adaptive Kernel Widths for Association-free Multi-target Tracking

E. Ernst, F. Pfaff, U. D. Hanebeck, and M. Baum

2023 American Control Conference (ACC), 2023.
Finalist Best Student Paper Award

BibTex DOI


@inproceedings{2023_Ernsta,
  author = {Ernst, Eugen and Pfaff, Florian and Hanebeck, Uwe D. and Baum, Marcus},
  booktitle = {2023 American Control Conference (ACC)},
  title = {The Kernel-SME Filter with Adaptive Kernel Widths for Association-free Multi-target Tracking},
  year = {2023},
  month = may,
  publisher = {IEEE},
  award = {Finalist Best Student Paper Award},
  doi = {10.23919/acc55779.2023.10155842}
}

An Overview of the PAKF-JPDA Approach for Elliptical Multiple Extended Target Tracking Using High-Resolution Marine Radar Data

J. S. Fowdur, M. Baum, F. Heymann, and P. Banys

Remote Sensing, vol. 15, no. 10, May 2023.

BibTex DOI


@article{2023_Fowdur,
  author = {Fowdur, Jaya Shradha and Baum, Marcus and Heymann, Frank and Banys, Pawel},
  journal = {Remote Sensing},
  title = {An Overview of the PAKF-JPDA Approach for Elliptical Multiple Extended Target Tracking Using High-Resolution Marine Radar Data},
  year = {2023},
  issn = {2072-4292},
  month = may,
  number = {10},
  pages = {2503},
  volume = {15},
  doi = {10.3390/rs15102503},
  publisher = {MDPI AG}
}

2022

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

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

Proceedings of the 25th International Conference on Information Fusion (Fusion 2022), Linköping, Sweden, 2022.

BibTex DOI Source Code


@inproceedings{2022_Steuernagel,
  author = {Steuernagel, Simon and Thormann, Kolja and Baum, Marcus},
  booktitle = {Proceedings of the 25th International Conference on Information Fusion (Fusion 2022)},
  title = {CNN-based Shape Estimation for Extended Object Tracking using Point Cloud Measurements},
  year = {2022},
  address = {Link\"oping, Sweden},
  month = jul,
  code = {https://github.com/Fusion-Goettingen/Fusion2022_Steuernagel_CNN-EOT},
  doi = {10.23919/FUSION49751.2022.9841254}
}

Track-to-Track Fusion for Elliptical Extended Targets Parameterized with Orientation and Semi-Axes Lengths

K. Thormann and M. Baum

Proceedings of the 25th International Conference on Information Fusion (Fusion 2022), Linköping, Sweden, 2022.

BibTex DOI Source Code


@inproceedings{2022_Fusion_Thormann,
  author = {Thormann, Kolja and Baum, Marcus},
  booktitle = {Proceedings of the 25th International Conference on Information Fusion (Fusion 2022)},
  title = {Track-to-Track Fusion for Elliptical Extended Targets Parameterized with Orientation and Semi-Axes Lengths},
  year = {2022},
  address = {Link\"oping, Sweden},
  month = jul,
  code = {https://github.com/Fusion-Goettingen/Fusion_2022_Thormann_RED-IF},
  doi = {10.23919/FUSION49751.2022.9841310}
}

Deterministic Gaussian Filtering based on Herding

L. M. Wolf and M. Baum

Proceedings of the 25th International Conference on Information Fusion (Fusion 2022), Linköping, Sweden, 2022.

BibTex DOI Source Code


@inproceedings{2022_Wolf,
  author = {Wolf, Laura M. and Baum, Marcus},
  booktitle = {Proceedings of the 25th International Conference on Information Fusion (Fusion 2022)},
  title = {Deterministic Gaussian Filtering based on Herding},
  year = {2022},
  address = {Link\"oping, Sweden},
  month = jul,
  code = {https://github.com/Fusion-Goettingen/Fusion_2022_Wolf_HKF},
  doi = {10.23919/FUSION49751.2022.9841346}
}

A Tutorial on Multiple Extended Object Tracking

K. Granström and M. Baum

TechRxiv, Feb. 2022.
Tutorial webpage

BibTex PDF DOI


@article{2022_Granstroem,
  author = {Granstr\"om, Karl and Baum, Marcus},
  journal = {TechRxiv},
  title = {A Tutorial on Multiple Extended Object Tracking},
  year = {2022},
  month = feb,
  archiveprefix = {Preprint},
  doi = {10.36227/techrxiv.19115858.v1},
  file = {pdf:http\://www.techrxiv.org/ndownloader/files/33962585/1},
  url = {https://www.techrxiv.org/articles/preprint/A_Tutorial_on_Multiple_Extended_Object_Tracking/19115858/1},
  webnote = { Tutorial webpage }
}

ImputAccur: fast and user-friendly calculation of genotype-imputation accuracy-measures

K. A. Thormann, V. Tozzi, P. Starke, H. Bickeböller, M. Baum, and A. Rosenberger
BMC Bioinformatics, vol. 23, no. 1, 2022.
Abstract BibTex URL Source Code

ImputAccur is a software tool to measure genotype-imputation accuracy. Imputation of untyped markers is a standard approach in genome-wide association studies to close the gap between directly genotyped and other known DNA variants. However, high accuracy for imputed genotypes is fundamental. Several accuracy measures have been proposed, but unfortunately, they are implemented on different platforms, which is impractical.
```
@article{2022_BMC_Thormann,
  author = {Thormann, Kolja A. and Tozzi, Viola and Starke, Paula and Bickeb\"oller, Heike and Baum, Marcus and Rosenberger, Albert},
  journal = {BMC Bioinformatics},
  title = {ImputAccur: fast and user-friendly calculation of genotype-imputation accuracy-measures},
  year = {2022},
  issn = {1471-2105},
  number = {1},
  pages = {316},
  volume = {23},
  code = {https://gitlab.gwdg.de/kolja.thormann1/imputationquality.git},
  refid = {Thormann2022},
  url = {https://doi.org/10.1186/s12859-022-04863-z}
}
```

2021

An Elliptical Principal Axes-based Model for Extended Target Tracking with Marine Radar Data

J. S. Fowdur, M. Baum, and F. Heymann

Proceedings of the 24th International Conference on Information Fusion (Fusion 2021), South Africa, 2021.

BibTex


@inproceedings{2021_Fowdura,
  author = {Fowdur, Jaya Shradha and Baum, Marcus and Heymann, Frank},
  booktitle = {Proceedings of the 24th International Conference on Information Fusion (Fusion 2021)},
  title = {An Elliptical Principal Axes-based Model for Extended Target Tracking with Marine Radar Data},
  year = {2021},
  address = {South Africa},
  month = nov
}

Continuous Herded Gibbs Sampling

L. Wolf and M. Baum

Proceedings of the 24th International Conference on Information Fusion (Fusion 2021), South Africa, 2021.

BibTex


@inproceedings{2021_Wolf,
  author = {Wolf, Laura and Baum, Marcus},
  booktitle = {Proceedings of the 24th International Conference on Information Fusion (Fusion 2021)},
  title = {Continuous Herded {G}ibbs Sampling},
  year = {2021},
  address = {South Africa},
  month = nov
}

Incorporating Range-Rate Measurements in EKF-based Elliptical Extended Object Tracking

K. Thormann and M. Baum

2021 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), 2021.

BibTex


@inproceedings{2021_Thormann,
  author = {Thormann, Kolja and Baum, Marcus},
  booktitle = {2021 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)},
  title = {Incorporating Range-Rate Measurements in {EKF}-based Elliptical Extended Object Tracking},
  year = {2021},
  month = sep
}

Real-World Marine Radar Datasets for Evaluating Target Tracking Methods

J. S. Fowdur, M. Baum, and F. Heymann
Sensors, vol. 21, no. 14, Jul. 2021.
Abstract BibTex DOI

As autonomous navigation is being implemented in several areas including the maritime domain, the need for robust tracking is becoming more important for traffic situation awareness, assessment and monitoring. We present an online repository comprising three designated marine radar datasets from real-world measurement campaigns to be employed for target detection and tracking research purposes. The datasets have their respective reference positions on the basis of the Automatic Identification System (AIS). Together with the methods used for target detection and clustering, a novel baseline algorithm for an extended centroid-based multiple target tracking is introduced and explained. We compare the performance of our algorithm to its standard version on the datasets using the AIS references. The results obtained and some initial dataset specific analysis are presented. The datasets, under the German Aerospace Centre (DLR)’s terms and agreements, can be procured from the company website’s URL provided in the article.
```
@article{2021_Fowdur,
  author = {Fowdur, Jaya Shradha and Baum, Marcus and Heymann, Frank},
  journal = {Sensors},
  title = {Real-World Marine Radar Datasets for Evaluating Target Tracking Methods},
  year = {2021},
  issn = {1424-8220},
  month = jul,
  number = {14},
  volume = {21},
  article-number = {4641},
  doi = {10.3390/s21144641},
  pubmedid = {34300381},
  url = {https://www.mdpi.com/1424-8220/21/14/4641}
}
```

Kalman Filter Based Extended Object Tracking with a Gaussian Mixture Spatial Distribution Model

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

2021 IEEE Intelligent Vehicles Symposium Workshops, 2021.

BibTex


@inproceedings{2021_Thormanna,
  author = {Thormann, Kolja and Yang, Shishan and Baum, Marcus},
  booktitle = {2021 IEEE Intelligent Vehicles Symposium Workshops},
  title = {{K}alman Filter Based Extended Object Tracking with a {G}aussian Mixture Spatial Distribution Model},
  year = {2021},
  month = jul
}

Constraint-Based Hierarchical Cluster Selection in Automotive Radar Data

C. Malzer and M. Baum

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

BibTex DOI Source Code


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

Fusion of Elliptical Extended Object Estimates Parameterized with Orientation and Axes Lengths

K. Thormann and M. Baum

IEEE Transactions on Aerospace and Electronic Systems, 2021.

BibTex PDF DOI Source Code


@article{2021_TAES_Thormann,
  author = {Thormann, Kolja and Baum, Marcus},
  journal = {IEEE Transactions on Aerospace and Electronic Systems},
  title = {Fusion of Elliptical Extended Object Estimates Parameterized with Orientation and Axes Lengths},
  year = {2021},
  code = {https://github.com/Fusion-Goettingen/EllipseFusion},
  doi = {10.1109/TAES.2021.3057651},
  file = {:https\://www.techrxiv.org/ndownloader/files/20098721:PDF},
  url = {https://www.techrxiv.org/articles/Fusion_of_Elliptical_Extended_Object_Estimates_Parameterized_with_Orientation_and_Axes_Lengths/11336567/1}
}

2020

Simulation-based Analysis of Multipath Delay Distributions in Urban Canyons

S. Ollander, F.-W. Bode, and M. Baum

2020 European Navigation Conference (ENC 2020), Dresden, Germany, 2020.

BibTex Source Code


@inproceedings{2020_Ollandera,
  author = {Ollander, Simon and Bode, Friedrich-Wilhelm and Baum, Marcus},
  booktitle = {2020 European Navigation Conference (ENC 2020)},
  title = {Simulation-based Analysis of Multipath Delay Distributions in Urban Canyons},
  year = {2020},
  address = {Dresden, Germany},
  month = nov,
  code = {https://github.com/Fusion-Goettingen/Bosch-GNSS-Reflection-Simulator}
}

Assymetric Noise Tailoring for Vehicle Lidar data in Extended Object Tracking

H. Kaulbersch, J. Honer, and M. Baum

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

BibTex DOI


@inproceedings{2020_Kaulbersch,
  author = {Kaulbersch, Hauke and Honer, Jens and Baum, Marcus},
  booktitle = {Proceedings of the 2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2020)},
  title = {Assymetric Noise Tailoring for Vehicle Lidar data in Extended Object Tracking},
  year = {2020},
  address = {Virtual},
  month = sep,
  doi = {10.1109/MFI49285.2020.9235253}
}

Deterministic Gibbs Sampling for Data Association in Multi-Object Tracking

L. Wolf and M. Baum

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

BibTex DOI Source Code


@inproceedings{2020_Wolf,
  author = {Wolf, Laura and Baum, Marcus},
  booktitle = {Proceedings of the 2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2020)},
  title = {Deterministic Gibbs Sampling for Data Association in Multi-Object Tracking},
  year = {2020},
  address = {Virtual},
  month = sep,
  code = {https://github.com/Fusion-Goettingen/HerdedGibbs},
  doi = {10.1109/MFI49285.2020.9235211},
  url = {https://www.techrxiv.org/articles/Deterministic_Gibbs_Sampling_for_Data_Association_in_Multi-Object_Tracking/12435398/1}
}

A Hybrid Approach To Hierarchical Density-based Cluster Selection

C. Malzer and M. Baum

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

BibTex PDF DOI Source Code


@inproceedings{2020_Malzer,
  author = {Malzer, Claudia and Baum, Marcus},
  booktitle = {Proceedings of the 2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2020)},
  title = {A Hybrid Approach To Hierarchical Density-based Cluster Selection},
  year = {2020},
  address = {Virtual},
  month = sep,
  code = {https://hdbscan.readthedocs.io/en/latest/how_to_use_epsilon.html},
  doi = {10.1109/MFI49285.2020.9235263},
  file = {1911.02282:https\://arxiv.org/pdf/1911.02282:PDF}
}

A Comparison of Kalman Filter-based Approaches for Elliptic Extended Object Tracking

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

Proceedings of the 23rd International Conference on Information Fusion (Fusion 2020), Virtual, 2020.

BibTex DOI Source Code


@inproceedings{2020_Fusion_Thormann,
  author = {Thormann, Kolja and Yang, Shishan and Baum, Marcus},
  booktitle = {Proceedings of the 23rd International Conference on Information Fusion (Fusion 2020)},
  title = {A Comparison of Kalman Filter-based Approaches for Elliptic Extended Object Tracking},
  year = {2020},
  address = {Virtual},
  month = jul,
  code = {https://github.com/Fusion-Goettingen/KalmanEllipses},
  doi = {10.23919/FUSION45008.2020.9190375}
}

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

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

Proceedings of the 23rd International Conference on Information Fusion (Fusion 2020), Virtual, 2020.

BibTex DOI


@inproceedings{2020_Fusion_Yang,
  author = {Yang, Shishan and Wolf, Laura M. and Baum, Marcus},
  booktitle = {Proceedings of the 23rd International Conference on Information Fusion (Fusion 2020)},
  title = {{Marginal Association Probabilities for Multiple Extended Objects without Enumeration of Measurement Partitions}},
  year = {2020},
  address = {Virtual},
  month = jul,
  doi = {10.23919/FUSION45008.2020.9190500}
}

Dual-frequency Collaborative Positioning for Minimization of GNSS Errors in Urban Canyons

S. Ollander, F. A. Schiegg, F.-W. Bode, and M. Baum

Proceedings of the 23rd International Conference on Information Fusion (Fusion 2020), Virtual, 2020.

BibTex DOI


@inproceedings{2020_Fusion_Ollander,
  author = {Ollander, Simon and Schiegg, Florian Alexander and Bode, Friedrich-Wilhelm and Baum, Marcus},
  booktitle = {Proceedings of the 23rd International Conference on Information Fusion (Fusion 2020)},
  title = {Dual-frequency Collaborative Positioning for Minimization of GNSS Errors in Urban Canyons},
  year = {2020},
  address = {Virtual},
  month = jul,
  doi = {10.23919/FUSION45008.2020.9190612}
}

Multipath Delay Estimation Using Signal Power Measurements from Multiple Carrier Frequencies

S. Ollander, F.-W. Bode, and M. Baum

2020 International Conference on Localization and GNSS (ICL-GNSS 2020), Tampere, Finland, 2020.

BibTex DOI


@inproceedings{2020_Ollander,
  author = {Ollander, Simon and Bode, Friedrich-Wilhelm and Baum, Marcus},
  booktitle = {2020 International Conference on Localization and GNSS (ICL-GNSS 2020)},
  title = {Multipath Delay Estimation Using Signal Power Measurements from Multiple Carrier Frequencies},
  year = {2020},
  address = {Tampere, Finland},
  month = jun,
  doi = {10.23919/FUSION45008.2020.9190612}
}

Simulation Science: Second International Workshop, SimScience 2019, Clausthal-Zellerfeld, May 8-10, 2019, Revised Selected Papers

N. Gunkelmann and M. Baum, Eds.

Communications in Computer and Information Science (CCIS), Springer International Publishing 2020.

BibTex URL


@proceedings{2020_SimScience,
  title = {Simulation Science: Second International Workshop, SimScience 2019, Clausthal-Zellerfeld, May 8-10, 2019, Revised Selected Papers},
  year = {2020},
  editor = {Gunkelmann, Nina and Baum, Marcus},
  isbn = {978-3-030-45717-4},
  month = jun,
  number = {1},
  publisher = {Communications in Computer and Information Science (CCIS), Springer International Publishing},
  volume = {1199},
  url = {https://www.springer.com/de/book/9783030457174}
}

On ABC Particle Filter Methods for Multiple Object Tracking

F. Sigges and M. Baum

Simulation Science: Second International Workshop, SimScience 2019, Clausthal-Zellerfeld, May 8-10, 2019, Revised Selected Papers, 2020.

BibTex


@inproceedings{2020_SWZ_Sigges,
  author = {Sigges, Fabian and Baum, Marcus},
  booktitle = {Simulation Science: Second International Workshop, SimScience 2019, Clausthal-Zellerfeld, May 8-10, 2019, Revised Selected Papers},
  title = {{On ABC Particle Filter Methods for Multiple Object Tracking}},
  year = {2020},
  publisher = {Springer},
  series = {Communications in Computer and Information Science (CCIS)}
}

2019

Improving Bimanual Interaction with a Prosthesis using Semi-Autonomous Control

R. Volkmar, S. Dosen, J. Gonzalez-Vargas, M. Baum, and M. Markovic
Journal of NeuroEngineering and Rehabilitation, vol. 16, no. 1, Nov. 2019.
Abstract BibTex DOI

The loss of a hand is a traumatic experience that substantially compromises an individualâs capability to interact with his environment. The myoelectric prostheses are state-of-the-art (SoA) functional replacements for the lost limbs. Their overall mechanical design and dexterity have improved over the last few decades, but the users have not been able to fully exploit these advances because of the lack of effective and intuitive control. Bimanual tasks are particularly challenging for an amputee since prosthesis control needs to be coordinated with the movement of the sound limb. So far, the bimanual activities have been often neglected by the prosthetic research community.
```
@article{2019_JNER_Volkmar,
  author = {Volkmar, Robin and Dosen, Strahinja and Gonzalez-Vargas, Jose and Baum, Marcus and Markovic, Marko},
  title = {{Improving Bimanual Interaction with a Prosthesis using Semi-Autonomous Control}},
  journal = {Journal of NeuroEngineering and Rehabilitation},
  year = {2019},
  volume = {16},
  number = {1},
  pages = {140},
  month = nov,
  issn = {1743-0003},
  doi = {10.1186/s12984-019-0617-6}
}
```

A Marine Radar Dataset for Multiple Extended Target Tracking

J. S. Fowdur, M. Baum, and F. Heymann

1st Maritime Situational Awareness Workshop (MSAW 2019), Villa Marigola, Lerici (La Spezia), Italy, 2019.

BibTex


@inproceedings{2019_MSAW_Fowdur,
  author = {Fowdur, Jaya Shradha and Baum, Marcus and Heymann, Frank},
  title = {{A Marine Radar Dataset for Multiple Extended Target Tracking}},
  booktitle = {1st Maritime Situational Awareness Workshop (MSAW 2019)},
  year = {2019},
  address = {Villa Marigola, Lerici (La Spezia), Italy},
  month = oct
}

Tracking the Orientation and Axes Lengths of an Elliptical Extended Object

S. Yang and M. Baum

IEEE Transactions on Signal Processing, vol. 67, no. 18, Sep. 2019.

BibTex PDF DOI Source Code


@article{2019_TSP_Yang,
  author = {Yang, Shishan and Baum, Marcus},
  title = {Tracking the Orientation and Axes Lengths of an Elliptical Extended Object},
  journal = {IEEE Transactions on Signal Processing},
  year = {2019},
  volume = {67},
  number = {18},
  pages = {4720-4729},
  month = sep,
  issn = {1053-587X},
  code = {https://github.com/Fusion-Goettingen/ExtendedObjectTracking/tree/master/MEM-EKFstar},
  doi = {10.1109/TSP.2019.2929462},
  file = {:https\://arxiv.org/pdf/1805.03276:PDF},
  keywords = {Shape;Noise measurement;Kinematics;Shape measurement;Object tracking;Kalman filters;Covariance matrices;Target tracking;extended object tracking;multiplicative error;Kalman filter},
  url = {https://arxiv.org/abs/1805.03276}
}

The Dual-frequency Post-correlation Difference Feature for Detection of Multipath and non-Line-of-Sight Errors in Satellite Navigation

S. Ollander, F.-W. Bode, and M. Baum
22nd International Conference on Information Fusion (FUSION 2019), Ottawa, Canada, 2019.
Abstract BibTex

Global Navigation Satellite Systems provide users with positioning in outdoor environments, however their performance in urban areas is decreased through errors caused by the reception of signals that are reflected on buildings (multipath and non-line-of-sight errors). To detect these errors, we simulated their influence on the correlator output on two carrier frequencies. Based upon the simulations, a feature using the difference between an ideal correlator output and the received correlator output was developed. This article presents the new Dual-frequency Post-correlation Difference feature and compares its performance with two methods from the bibliography. This new feature outperforms the Code-Minus-Carrier and the signal-to-noise ratio difference features in multipath and non-line-of-sight detection. Furthermore it can distinguish between multipath and non-line-of-sight reception. As a consequence, the method can be used to exclude satellites whose signals are affected by reflections, to provide a more accurate navigation solution.
```
@inproceedings{2019_Fusion_Ollander,
  author = {Ollander, Simon and Bode, Friedrich-Wilhelm and Baum, Marcus},
  title = {The Dual-frequency Post-correlation Difference Feature for Detection of Multipath and {non-Line-of-Sight} Errors in Satellite Navigation},
  booktitle = {22nd International Conference on Information Fusion (FUSION 2019)},
  year = {2019},
  address = {Ottawa, Canada},
  month = jul,
  days = {2}
}
```
Optimal Fusion of Elliptic Extended Target Estimates Based on the Wasserstein Distance

K. Thormann and M. Baum
22nd International Conference on Information Fusion (FUSION 2019), Ottawa, Canada, 2019.
Abstract BibTex URL Source Code

This paper considers the fusion of multiple estimates of a spatially extended object, where the object extent is modeled as an ellipse parameterized by the orientation and semi-axes lengths. For this purpose, we propose a novel systematic approach that employs a distance measure for ellipses, i.e., the Gaussian Wasserstein distance, as a cost function. We derive an explicit approximate expression for the Minimum Mean Gaussian Wasserstein distance (MMGW) estimate. Based on the concept of a MMGW estimator, we develop efficient methods for the fusion of extended target estimates. The proposed fusion methods are evaluated in a simulated experiment and the benefits of the novel methods are discussed.
```
@inproceedings{2019_Fusion_Thormann,
  author = {Thormann, Kolja and Baum, Marcus},
  title = {Optimal Fusion of Elliptic Extended Target Estimates Based on the Wasserstein Distance},
  booktitle = {22nd International Conference on Information Fusion (FUSION 2019)},
  year = {2019},
  address = {Ottawa, Canada},
  month = jul,
  code = {https://github.com/Fusion-Goettingen/ExtendedObjectTracking/tree/master/EllipseFusion},
  days = {2},
  url = {https://arxiv.org/abs/1904.00708}
}
```
Tracking Targets with Known Spatial Extent Using Experimental Marine Radar Data

J. S. Fowdur, M. Baum, and F. Heymann
22nd International Conference on Information Fusion (FUSION 2019), Ottawa, Canada, 2019.
Abstract BibTex

Endeavours to have a reliable and robust maritime traffic situation assessment are today leading to exploit the improved sensor resolution technology of radars. In such concerned tracking scenarios, multiple noisy scattered measurements arise from targets of interest’s surfaces at each observation step. In this paper, we present a special version of the Multiplicative Error Model-Extended Kalman Filter* (MEM-EKF*) approach to recursively track the orientation and kinematics of targets having known physical dimensions from a maritime- and radar-based dataset. Altogether, we also introduce and thereby propose an open dataset part of a marine radar benchmark dedicated to extended target tracking to the community. The benefits and performance of the proposed approach adopted on our dataset are discussed taking into consideration the non-ideal but nonetheless prevailing effects of the quotidian marine radar such as beam spreading and false negatives. As compared to its original version, the proposed approach proved to be more computationally efficient.
```
@inproceedings{2019_Fusion_Fowdur,
  author = {Fowdur, Jaya Shradha and Baum, Marcus and Heymann, Frank},
  title = {{Tracking Targets with Known Spatial Extent Using Experimental Marine Radar Data}},
  booktitle = {22nd International Conference on Information Fusion (FUSION 2019)},
  year = {2019},
  address = {Ottawa, Canada},
  month = jul
}
```
EM-based Extended Target Tracking with Automotive Radar Using Learned Spatial Distribution Models

H. Kaulbersch, J. Honer, and M. Baum
22nd International Conference on Information Fusion (FUSION 2019), Ottawa, Canada, 2019.
Abstract BibTex

In this paper, a novel interpretation of associations to a learned model is presented, which allows for the combination of algorithms for extended target tracking in the context of the automotive sector. Specifically, learning the spatial distribution of measurements from a vehicle in the form of a Variational Gaussian Mixture (VGM) model. Which yields an interpretation that is applicable for the Expectation Maximization (EM) algorithm, such that a closed-form measurement update for tracking an extended target can be derived. The approach is in particular designed for sparse and noisy measurements and is applied to Radio Detection and Ranging (RADAR) point information. Furthermore, an evaluation based on data from the recent NuScenes data set is performed.
```
@inproceedings{2019_IV_Kaulbersch,
  author = {Kaulbersch, Hauke and Honer, Jens and Baum, Marcus},
  title = {{EM-based} Extended Target Tracking with Automotive Radar Using Learned Spatial Distribution Models},
  booktitle = {22nd International Conference on Information Fusion (FUSION 2019)},
  year = {2019},
  address = {Ottawa, Canada},
  month = jul,
  days = {2}
}
```

Network Flow Labeling for Extended Target Tracking PHD filters

S. Yang, F. Teich, and M. Baum

IEEE Transactions on Industrial Informatics, 2019.

BibTex DOI


@article{2019_TII_Yang,
  author = {Yang, Shishan and Teich, Florian and Baum, Marcus},
  journal = {IEEE Transactions on Industrial Informatics},
  title = {Network Flow Labeling for Extended Target Tracking PHD filters},
  year = {2019},
  issn = {1551-3203},
  pages = {1-1},
  doi = {10.1109/TII.2019.2898992},
  keywords = {Target tracking;Labeling;Shape;Time measurement;Radar tracking;Object tracking;Trajectory}
}

2018

Linear Programming based Time Lag Identification in Event Sequences

M. F. Huber, M.-A. Zöller, and M. Baum

Automatica, vol. 54, no. 12, Dec. 2018.

BibTex DOI Source Code


@article{2018_Huber,
  author = {Huber, Marco F. and Zöller, Marc-André and Baum, Marcus},
  journal = {Automatica},
  title = {{Linear Programming based Time Lag Identification in Event Sequences}},
  year = {2018},
  month = dec,
  number = {12},
  volume = {54},
  code = {https://github.com/Fusion-Goettingen/EventCorrelation},
  doi = {10.1016/j.automatica.2018.08.025}
}

Simulation Science: First International Workshop, SimScience 2017, Göttingen, Germany, April 27-28, 2017, Revised Selected Papers

M. Baum, G. Brenner, J. Grabowski, T. Hanschke, S. Hartmann, and A. Schöbel, Eds.

Communications in Computer and Information Science (CCIS), Springer International Publishing 2018.

BibTex URL


@proceedings{SimScience2018,
  title = {Simulation Science: First International Workshop, SimScience 2017, Göttingen, Germany, April 27-28, 2017, Revised Selected Papers},
  year = {2018},
  editor = {Baum, Marcus and Brenner, Gunther and Grabowski, Jens and Hanschke, Thomas and Hartmann, Stefan and Schöbel, Anita},
  volume = {889},
  number = {1},
  publisher = {Communications in Computer and Information Science (CCIS), Springer International Publishing},
  month = oct,
  isbn = {978-3-319-96270-2},
  url = {https://www.springer.com/us/book/9783319962702}
}

Multi-Frequency GNSS Signal Fusion for Minimization of Multipath and Non-Line-of-Sight Errors: A Survey

S. Ollander, F.-W. Bode, and M. Baum

IEEE 15th Workshop on Positioning, Navigation and Communications (WPNC’18), 2018.

BibTex


@inproceedings{Ollander2018,
  author = {Ollander, Simon and Bode, Friedrich-Wilhelm and Baum, Marcus},
  title = {{Multi-Frequency GNSS Signal Fusion for Minimization of Multipath and Non-Line-of-Sight Errors: A Survey}},
  booktitle = {IEEE 15th Workshop on Positioning, Navigation and Communications (WPNC'18)},
  year = {2018},
  month = oct
}

Linear-Time Joint Probabilistic Data Association for Multiple Extended Object Tracking

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

2018 IEEE Sensor Array and Multichannel Signal Processing Workshop (SAM 2018), Sheffield, United Kingdom, 2018.

BibTex DOI Source Code


@inproceedings{Yang2018_SAM,
  author = {Yang, Shishan and Thormann, Kolja and Baum, Marcus},
  booktitle = {2018 IEEE Sensor Array and Multichannel Signal Processing Workshop (SAM 2018)},
  title = {{Linear-Time Joint Probabilistic Data Association for Multiple Extended Object Tracking}},
  year = {2018},
  address = {Sheffield, United Kingdom},
  month = jul,
  code = {https://github.com/Fusion-Goettingen/ExtendedObjectTracking/tree/master/MEOT/linearJPDA},
  days = {7},
  doi = {10.1109/sam.2018.8448430}
}

Extended Target Tracking Using Gaussian Processes with High-Resolution Automotive Radar

K. Thormann, J. Honer, and M. Baum

21st International Conference on Information Fusion (FUSION 2018), Cambridge, United Kingdom, 2018.

BibTex


@inproceedings{Thormann2018_Fusion,
  author = {Thormann, Kolja and Honer, Jens and Baum, Marcus},
  title = {{Extended Target Tracking Using Gaussian Processes with {High-Resolution} Automotive Radar}},
  booktitle = {21st International Conference on Information Fusion (FUSION 2018)},
  year = {2018},
  address = {Cambridge, United Kingdom},
  month = jul
}

A Cartesian B-Spline Vehicle Model for Extended Object Tracking

H. Kaulbersch, J. Honer, and M. Baum

21st International Conference on Information Fusion (FUSION 2018), Cambridge, United Kingdom, 2018.

BibTex Source Code


@inproceedings{Kaulbersch2018_Fusion,
  author = {Kaulbersch, Hauke and Honer, Jens and Baum, Marcus},
  title = {{A Cartesian {B-Spline} Vehicle Model for Extended Object Tracking}},
  booktitle = {21st International Conference on Information Fusion (FUSION 2018)},
  year = {2018},
  address = {Cambridge, United Kingdom},
  month = jul,
  code = {https://github.com/Fusion-Goettingen/ExtendedTargetTrackingToolbox/blob/master/models/spline.py},
  days = {9}
}

Post-Processing of Multi-Target Trajectories for Traffic Safety Analysis

T. Janz, A. Leich, M. Junghans, K. Gimm, S. Yang, and M. Baum

21st International Conference on Information Fusion (FUSION 2018), Cambridge, United Kingdom, 2018.

BibTex


@inproceedings{Janz2018_Fusion,
  author = {Janz, Thorben and Leich, Andreas and Junghans, Marek and Gimm, Kay and Yang, Shishan and Baum, Marcus},
  title = {{{Post-Processing} of {Multi-Target} Trajectories for Traffic Safety Analysis}},
  booktitle = {21st International Conference on Information Fusion (FUSION 2018)},
  year = {2018},
  address = {Cambridge, United Kingdom},
  month = jul
}

An Ensemble Kalman Filter for Feature-Based SLAM with Unknown Associations

F. Sigges, C. Rauterberg, M. Baum, and U. D. Hanebeck

21st International Conference on Information Fusion (FUSION 2018), Cambridge, United Kingdom, 2018.

BibTex


@inproceedings{Sigges2018_Fusion,
  author = {Sigges, Fabian and Rauterberg, Christoph and Baum, Marcus and Hanebeck, Uwe D.},
  title = {{An Ensemble Kalman Filter for {Feature-Based} {SLAM} with Unknown Associations}},
  booktitle = {21st International Conference on Information Fusion (FUSION 2018)},
  year = {2018},
  address = {Cambridge, United Kingdom},
  month = jul
}

A General Reliability-Aware Fusion Concept Using DST and Supervised Learning with Its Applications in Multi-Source Road Estimation

T. T. Nguyen, J. Spehr, D. Vock, M. Baum, S. Zug, and R. Kruse

Proceedings of the IEEE Intelligent Vehicles Symposium (IV 2018), Changshu, Suzhou, China, 2018.

BibTex


@inproceedings{Nguyen_IV2018,
  author = {Nguyen, T. T. and Spehr, J. and Vock, D. and Baum, M. and Zug, S. and Kruse, R.},
  title = {{A General Reliability-Aware Fusion Concept Using DST and Supervised Learning with Its Applications in Multi-Source Road Estimation}},
  booktitle = {Proceedings of the IEEE Intelligent Vehicles Symposium (IV 2018)},
  year = {2018},
  address = {Changshu, Suzhou, China},
  month = jun
}

Guest Editorial Special Section on Multisensor Fusion and Integration for Intelligent Systems

U. D. Hanebeck, M. Baum, and M. F. Huber, Eds.

IEEE Transactions on Industrial Informatics 2018.

BibTex DOI


@proceedings{TII_Editorial_MFI2018,
  title = {{Guest Editorial Special Section on Multisensor Fusion and Integration for Intelligent Systems}},
  year = {2018},
  editor = {Hanebeck, Uwe D. and Baum, Marcus and Huber, Marco F.},
  volume = {14},
  number = {3},
  publisher = {IEEE Transactions on Industrial Informatics},
  month = mar,
  doi = {10.1109/TII.2018.2797956},
  issn = {1551-3203}
}

Ensemble Kalman Filter Variants for Multi-Object Tracking with False and Missing Measurements, in Multisensor Fusion and Integration in the Wake of Big Data, Deep Learning and Cyber Physical System, Selected Papers from the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017), Lecture Notes in Electrical Engineering (LNEE), Springer, 2018.

BibTex URL


@incollection{Sigges2018_LNEE,
  author = {Sigges, Fabian and Baum, Marcus},
  title = {{Ensemble Kalman Filter Variants for Multi-Object Tracking with False and Missing Measurements}},
  booktitle = {Multisensor Fusion and Integration in the Wake of Big Data, Deep Learning and Cyber Physical System, Selected Papers from the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017), Lecture Notes in Electrical Engineering (LNEE)},
  publisher = {Springer},
  year = {2018},
  comment = {Selected Papers from the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017)},
  url = {https://link.springer.com/chapter/10.1007/978-3-319-90509-9_14}
}

Improving Ego-Lane Detection by Incorporating Source Reliability, in Multisensor Fusion and Integration in the Wake of Big Data, Deep Learning and Cyber Physical System, Selected Papers from the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017), Lecture Notes in Electrical Engineering (LNEE), Springer, 2018.

BibTex URL


@incollection{Nguyen2018_LNEE,
  author = {Nguyen, T. T. and Spehr, J. and Sitzmann, J. and Baum, M. and Zug, S. and Kruse, R.},
  title = {{Improving Ego-Lane Detection by Incorporating Source Reliability}},
  booktitle = {Multisensor Fusion and Integration in the Wake of Big Data, Deep Learning and Cyber Physical System, Selected Papers from the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017), Lecture Notes in Electrical Engineering (LNEE)},
  publisher = {Springer},
  year = {2018},
  comment = {Selected Papers from the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017)},
  url = {https://link.springer.com/chapter/10.1007/978-3-319-90509-9_6}
}

2017

Extended Object Tracking with Exploitation of Range Rate Measurements

S. Bordonaro, P. Willett, Y. B. Shalom, T. Luginbuhl, and M. Baum

ISIF Journal of Advances in Information Fusion, vol. 12, no. 2, Dec. 2017.

BibTex PDF


@article{Bordonaro2017,
  author = {Bordonaro, Steven and Willett, Peter and Shalom, Yaakov Bar and Luginbuhl, Tod and Baum, Marcus},
  title = {{Extended Object Tracking with Exploitation of Range Rate Measurements}},
  journal = {ISIF Journal of Advances in Information Fusion},
  year = {2017},
  volume = {12},
  number = {2},
  month = dec,
  file = {:http\://confcats_isif.s3.amazonaws.com/web-files/journals/entries/JAIF_Vol12_2_Extended%20Object%20Tracking2.pdf:PDF}
}

Extended Object Tracking: Introduction, Overview and Applications

K. Granström, M. Baum, and S. Reuter

ISIF Journal of Advances in Information Fusion, vol. 12, no. 2, Dec. 2017.
Tutorial webpage

BibTex PDF


@article{2017_JAIF_Granstroem,
  author = {Granstr\"om, Karl and Baum, Marcus and Reuter, Stephan},
  journal = {ISIF Journal of Advances in Information Fusion},
  title = {{Extended Object Tracking: Introduction, Overview and Applications}},
  year = {2017},
  issn = {1557-6418},
  month = dec,
  number = {2},
  volume = {12},
  file = {JAIF_Vol12_2_Extended%20Object%20Tracking.pdf:http\://confcats_isif.s3.amazonaws.com/web-files/journals/entries/JAIF_Vol12_2_Extended%20Object%20Tracking.pdf:PDF},
  webnote = { Tutorial webpage }
}

Guest Editorial: Special Issue on Extended Object Tracking

K. Granström and M. Baum, Eds.

ISIF Journal of Advances in Information Fusion 2017.

BibTex PDF URL


@proceedings{Granstroem2017b,
  title = {{Guest Editorial: Special Issue on Extended Object Tracking}},
  year = {2017},
  editor = {Granstr\"om, Karl and Baum, Marcus},
  volume = {12},
  number = {2},
  publisher = {ISIF Journal of Advances in Information Fusion},
  month = dec,
  file = {:http\://confcats_isif.s3.amazonaws.com/web-files/journals/entries/JAIF_Vol12_2_From%20the%20Editor-in-Chief.pdf:PDF},
  keywords = {Editorial},
  url = {http://isif.org/journal/12/2/1557-6418}
}

A Survey of Performance Measures to Evaluate Ego-Lane Estimation and A Novel Sensor-Independent Measure Along with Its Applications

T. T. Nguyen, J. Spehr, J. Xiong, M. Baum, S. Zug, and R. Kruse

Proceedings of the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017), Daegu, Korea, 2017.
Best Poster Paper Award

BibTex DOI


@inproceedings{Nguyen2017,
  author = {Nguyen, Tran Tuan and Spehr, Jens and Xiong, Jian and Baum, Marcus and Zug, Sebastian and Kruse, Rudolf},
  title = {{A Survey of Performance Measures to Evaluate Ego-Lane Estimation and A Novel Sensor-Independent Measure Along with Its Applications}},
  booktitle = {Proceedings of the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017)},
  year = {2017},
  address = {Daegu, Korea},
  month = nov,
  note = {\textbf{ \color{red}Best Poster Paper Award}},
  award = {Best Poster Paper Award},
  doi = {10.1109/MFI.2017.8170435}
}

Online Reliability Assessment and Reliability-Aware Fusion for Ego-Lane Detection Using Influence Diagram and Bayes Filter

T. T. Nguyen, J. Spehr, J. Xiong, M. Baum, S. Zug, and R. Kruse

Proceedings of the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017), Daegu, Korea, 2017.

BibTex DOI


@inproceedings{Nguyen2017a,
  author = {Nguyen, Tran Tuan and Spehr, Jens and Xiong, Jian and Baum, Marcus and Zug, Sebastian and Kruse, Rudolf},
  title = {{Online Reliability Assessment and Reliability-Aware Fusion for Ego-Lane Detection Using Influence Diagram and Bayes Filter}},
  booktitle = {Proceedings of the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017)},
  year = {2017},
  address = {Daegu, Korea},
  month = nov,
  doi = {10.1109/MFI.2017.8170400}
}

A Nearest Neighbour Ensemble Kalman Filter for Multi-Object Tracking

F. Sigges and M. Baum

2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), Daegu, South Korea, pp. pp. 227–232, 2017.

BibTex DOI


@inproceedings{Sigges2017a,
  title = {{A Nearest Neighbour Ensemble Kalman Filter for Multi-Object Tracking}},
  author = {Sigges, Fabian and Baum, Marcus},
  booktitle = {2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)},
  year = {2017},
  address = {Daegu, South Korea},
  month = nov,
  pages = {227--232},
  doi = {10.1109/MFI.2017.8170433}
}

Fast Road Boundary Detection and Tracking in Occupancy Grids from Laser Scans

K. Thormann, J. Honer, and M. Baum

Proceedings of the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017), Daegu, Korea, 2017.

BibTex DOI


@inproceedings{Thormann2017a,
  author = {Thormann, Kolja and Honer, Jens and Baum, Marcus},
  title = {{Fast Road Boundary Detection and Tracking in Occupancy Grids from Laser Scans}},
  booktitle = {Proceedings of the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017)},
  year = {2017},
  address = {Daegu, Korea},
  month = nov,
  doi = {10.1109/MFI.2017.8170453}
}

Random Finite Set Particle Filter for Source Enumeration and Direction-of-Arrival Tracking Using Sonar Arrays

B. Balasingam, M. Baum, and P. Willett

Proceedings of the 20th International Conference on Information Fusion (FUSION 2017), Xi’an, P.R. China, 2017.

BibTex DOI


@inproceedings{Balasingam2017,
  author = {Balasingam, Balakumar and Baum, Marcus and Willett, Peter},
  title = {{Random Finite Set Particle Filter for Source Enumeration and Direction-of-Arrival Tracking Using Sonar Arrays}},
  booktitle = {Proceedings of the 20th International Conference on Information Fusion (FUSION 2017)},
  year = {2017},
  address = {Xi'an, P.R. China},
  month = jul,
  days = {9},
  doi = {10.23919/ICIF.2017.8009709}
}

EM Approach for Tracking Star-Convex Extended Objects

H. Kaulbersch, M. Baum, and P. Willett
Proceedings of the 20th International Conference on Information Fusion (Fusion 2017), Xi’an, P.R. China, 2017.
Abstract BibTex DOI

We develop an Expectation-Maximization (EM) algorithm for the simultaneous tracking and shape estimation of a star-convex object based on multiple spatially distributed measurements. In order to formulate the problem within the EM framework, the unknown measurement sources on the object are modeled as hidden variables. As the measurement sources are continuous quantities, we develop a suitable discretization method that allows for a closed-form EM iteration. The performance of the EM approach is demonstrated in comparison with a recursive Gaussian filter based on the Random Hypersurface Model (RHM).
```
@inproceedings{Kaulbersch2017,
  author = {Kaulbersch, Hauke and Baum, Marcus and Willett, Peter},
  title = {{EM Approach for Tracking Star-Convex Extended Objects}},
  booktitle = {Proceedings of the 20th International Conference on Information Fusion (Fusion 2017)},
  year = {2017},
  address = {Xi'an, P.R. China},
  month = jul,
  days = {9},
  doi = {10.23919/ICIF.2017.8009884}
}
```
A Likelihood-Free Particle Filter for Multi-Object Tracking

F. Sigges, M. Baum, and U. D. Hanebeck
Proceedings of the 20th International Conference on Information Fusion (FUSION 2017), Xi’an, P.R. China, 2017.
Abstract BibTex DOI

We present a particle filter for multi-object tracking, which 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 candidate particles is simulated, 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.
```
@inproceedings{Sigges2017,
  author = {Sigges, Fabian and Baum, Marcus and Hanebeck, Uwe D},
  title = {{A Likelihood-Free Particle Filter for Multi-Object Tracking}},
  booktitle = {Proceedings of the 20th International Conference on Information Fusion (FUSION 2017)},
  year = {2017},
  address = {Xi'an, P.R. China},
  month = jul,
  days = {9},
  doi = {10.23919/ICIF.2017.8009796}
}
```

Learning an Object Tracker with a Random Forest and Simulated Measurements

K. Thormann, F. Sigges, and M. Baum

Proceedings of the 20th International Conference on Information Fusion (FUSION 2017), Xi’an, P.R. China, 2017.

BibTex DOI


@inproceedings{Thormann2017,
  author = {Thormann, Kolja and Sigges, Fabian and Baum, Marcus},
  title = {{Learning an Object Tracker with a Random Forest and Simulated Measurements}},
  booktitle = {Proceedings of the 20th International Conference on Information Fusion (FUSION 2017)},
  year = {2017},
  address = {Xi'an, P.R. China},
  month = jul,
  days = {9},
  doi = {10.23919/ICIF.2017.8009674}
}

Framework for Mining Event Correlations and Time Lags in Event Sequences

M.-A. Zöller, M. Baum, and M. Huber

IEEE 15th International Conference on Industrial Informatics (INDIN 2017), Emden, Germany, 2017.

BibTex DOI


@inproceedings{Zoller2017,
  author = {Z{\"o}ller, Marc-Andre and Baum, Marcus and Huber, Marco},
  title = {{Framework for Mining Event Correlations and Time Lags in Event Sequences}},
  booktitle = {IEEE 15th International Conference on Industrial Informatics (INDIN 2017)},
  year = {2017},
  address = {Emden, Germany},
  month = jul,
  doi = {10.1109/INDIN.2017.8104876},
  owner = {baum},
  timestamp = {2017.05.19}
}

Cognitive Video Streaming

D. Pasupuleti, P. Mannaru, B. Balasingam, M. Baum, K. Pattipati, P. Willett, C. Lintz, G. Commeau, F. Dorigo, and J. Fahrny

ISIF Journal of Advances in Information Fusion, vol. 12, no. 1, Jun. 2017.

BibTex PDF


@article{J_Bala2017,
  author = {Pasupuleti, Devaki and Mannaru, Pujitha and Balasingam, Balakumar and Baum, Marcus and Pattipati, Krishna and Willett, Peter and Lintz, Christopher and Commeau, Gabriel and Dorigo, Francesco and Fahrny, Jim},
  title = {{Cognitive Video Streaming}},
  journal = {ISIF Journal of Advances in Information Fusion},
  year = {2017},
  volume = {12},
  number = {1},
  month = jun,
  file = {:https\://confcats_isif.s3.amazonaws.com/web-files/journals/entries/JAIF_Vol12_1_complete_170828_3.pdf:PDF}
}

GM-PHD filter for Multiple Extended Object Tracking based on the Multiplicative Error Shape Model and Network Flow Labeling

F. Teich, S. Yang, and M. Baum

Proceedings of the IEEE Intelligent Vehicles Symposium (IV 2017), Redondo Beach, CA, USA, 2017.

BibTex DOI


@inproceedings{Teich2017,
  author = {Teich, Florian and Yang, Shishan and Baum, Marcus},
  title = {{GM-PHD filter for Multiple Extended Object Tracking based on the Multiplicative Error Shape Model and Network Flow Labeling}},
  booktitle = {Proceedings of the IEEE Intelligent Vehicles Symposium (IV 2017)},
  year = {2017},
  address = {Redondo Beach, CA, USA},
  month = jun,
  doi = {10.1109/IVS.2017.7995691}
}

Symmetrizing Measurement Equations for Association-free Multi-target Tracking via Point Set Distances

U. D. Hanebeck, M. Baum, and P. Willett

SPIE - Signal Processing, Sensor/Information Fusion, and Target Recognition XXVI, Anaheim, California, USA, 2017.

BibTex DOI


@inproceedings{Hanebeck2017,
  author = {Hanebeck, Uwe D and Baum, Marcus and Willett, Peter},
  title = {{Symmetrizing Measurement Equations for Association-free Multi-target Tracking via Point Set Distances}},
  booktitle = {SPIE - Signal Processing, Sensor/Information Fusion, and Target Recognition XXVI},
  year = {2017},
  address = {Anaheim, California, USA},
  month = apr,
  doi = {10.1117/12.2266988}
}

Comparative Evaluation for Recommender Systems for Book Recommendations

A. Tashkandi, L. Wiese, and M. Baum

Datenbanksysteme für Business, Technologie und Web (BTW 2017), 17. Fachtagung des GI Fachbereichs Datenbanken und Informationssysteme (DBIS), pp. pp. 291–300, 2017.

BibTex PDF


@inproceedings{Tashkandi2017,
  author = {Tashkandi, Araek and Wiese, Lena and Baum, Marcus},
  title = {{Comparative Evaluation for Recommender Systems for Book Recommendations}},
  booktitle = {Datenbanksysteme f{\"u}r Business, Technologie und Web (BTW 2017), 17. Fachtagung des GI Fachbereichs Datenbanken und Informationssysteme (DBIS)},
  year = {2017},
  pages = {291--300},
  month = mar,
  file = {:http\://btw2017.informatik.uni-stuttgart.de/slidesandpapers/F-11-88/paper_web.pdf:PDF}
}

Extended Kalman Filter for Extended Object Tracking

S. Yang and M. Baum

Proceedings of the 42nd IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP 2017), New Orleans, USA, 2017.

BibTex DOI Source Code


@inproceedings{Yang2017_ICASSP,
  author = {Yang, Shishan and Baum, Marcus},
  title = {{Extended Kalman Filter for Extended Object Tracking}},
  booktitle = {Proceedings of the 42nd IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP 2017)},
  year = {2017},
  address = {New Orleans, USA},
  month = mar,
  code = {http://github.com/Fusion-Goettingen/ExtendedObjectTracking/tree/master/MEM_EKF},
  doi = {10.1109/ICASSP.2017.7952985}
}

2016

Conveying System, Plant for Sorting Bulk Goods having a Conveying System of this Type, and Transport method. Google Patents, Dec-2016.

BibTex URL


@misc{Gruna2016,
  title = {Conveying System, Plant for Sorting Bulk Goods having a Conveying System of this Type, and Transport method},
  author = {Gruna, R. and Vieth, K.U. and Schulte, H. and Langle, T. and Hanebeck, U. and Baum, Marcus and Noack, B.},
  month = dec,
  note = {US Patent App. 15/119,019},
  year = {2016},
  patent = {US Patent},
  publisher = {Google Patents},
  url = {https://www.google.com/patents/US20160354809}
}

Level-Set Random Hypersurface Models for Tracking Non-Convex Extended Objects

A. Zea, F. Faion, M. Baum, and U. Hanebeck

IEEE Transactions on Aerospace and Electronic Systems, vol. 52, no. 6, Dec. 2016.

BibTex DOI


@article{2016_TAES_Zea,
  author = {Zea, Antonio and Faion, Florian and Baum, Marcus and Hanebeck, Uwe},
  title = {{Level-Set Random Hypersurface Models for Tracking Non-Convex Extended Objects}},
  journal = {IEEE Transactions on Aerospace and Electronic Systems},
  year = {2016},
  volume = {52},
  number = {6},
  pages = {2990-3007},
  month = dec,
  issn = {0018-9251},
  doi = {10.1109/TAES.2016.130704}
}

An EM Approach for Contour Tracking based on Point Clouds

H. Kaulbersch, M. Baum, and P. Willett

Proceedings of the 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016), Baden-Baden, Germany, 2016.

BibTex URL


@inproceedings{MFI16_Kaulbersch,
  author = {Kaulbersch, Hauke and Baum, Marcus and Willett, Peter},
  title = {{An EM Approach for Contour Tracking based on Point Clouds}},
  booktitle = {Proceedings of the 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016)},
  year = {2016},
  address = {Baden-Baden, Germany},
  month = sep,
  url = {https://ieeexplore.ieee.org/document/7849542/}
}

Metrics for Performance Evaluation of Elliptic Extended Object Tracking Methods

S. Yang, M. Baum, and K. Granström

Proceedings of the 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016), Baden-Baden, Germany, 2016.

BibTex URL Source Code


@inproceedings{2016_MFI_Yang,
  author = {Yang, Shishan and Baum, Marcus and Granstr\"om, Karl},
  title = {{Metrics for Performance Evaluation of Elliptic Extended Object Tracking Methods}},
  booktitle = {Proceedings of the 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016)},
  year = {2016},
  address = {Baden-Baden, Germany},
  month = sep,
  code = {http://github.com/Fusion-Goettingen/ExtendedObjectTracking/tree/master/Evaluation},
  url = {https://ieeexplore.ieee.org/document/7849541/}
}

The Kernel-SME Filter with False and Missing Measurements

M. Baum, S. Yang, and U. D. Hanebeck
19th International Conference on Information Fusion (Fusion 2016), Heidelberg, Germany, 2016.
Abstract BibTex PDF URL

The recently proposed Kernel-SME filter for multi-object 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.
```
@inproceedings{Baum2016,
  author = {Baum, Marcus and Yang, Shishan and Hanebeck, Uwe D},
  booktitle = {19th International Conference on Information Fusion (Fusion 2016)},
  title = {{The Kernel-SME Filter with False and Missing Measurements}},
  year = {2016},
  address = {Heidelberg, Germany},
  month = jul,
  days = {4},
  file = {:http\://isas.iar.kit.edu/pdf/Fusion16_Kernel-SME_Filter.pdf:PDF},
  url = {https://ieeexplore.ieee.org/document/7527919/}
}
```
State Estimation Considering Negative Information with Switching Kalman and Ellipsoidal Filtering

B. Noack, F. Pfaff, M. Baum, and U. D. Hanebeck
19th International Conference on Information Fusion (Fusion 2016), Heidelberg, Germany, 2016.
Abstract BibTex PDF URL

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.
```
@inproceedings{Noack2016,
  author = {Noack, Benjamin and Pfaff, Florian and Baum, Marcus and Hanebeck, Uwe D},
  title = {{State Estimation Considering Negative Information with Switching Kalman and Ellipsoidal Filtering}},
  booktitle = {19th International Conference on Information Fusion (Fusion 2016)},
  year = {2016},
  address = {Heidelberg, Germany},
  month = jul,
  days = {4},
  file = {Fusion16_Noack.pdf:http\://isas.iar.kit.edu/pdf/Fusion16_Noack.pdf:PDF},
  url = {https://ieeexplore.ieee.org/document/7528121/}
}
```
Second-Order Extended Kalman Filter for Extended Object and Group Tracking

S. Yang and M. Baum
Proceedings of the 19th International Conference on Information Fusion (Fusion 2016), Heidelberg, Germany, 2016.
Abstract BibTex URL Source Code

In this paper, we propose a novel method for estimating an elliptic shape approximation of a moving extended object that gives rise to multiple scattered measurements per frame. For this purpose, we parameterize the elliptic shape with its orientation and lengths of the semi-axes. We relate an individual measurement with the ellipse parameters by means of a multiplicative noise model and derive a second-order extended Kalman filter for a closed-form recursive measurement update. The performance of the proposed method is illustrated by means of Monte Carlo simulations for both static and dynamic scenarios.
```
@inproceedings{Yang2016,
  author = {Yang, Shishan and Baum, Marcus},
  booktitle = {Proceedings of the 19th International Conference on Information Fusion (Fusion 2016)},
  title = {{Second-Order Extended Kalman Filter for Extended Object and Group Tracking}},
  year = {2016},
  address = {Heidelberg, Germany},
  month = jul,
  code = {http://github.com/Fusion-Goettingen/ExtendedObjectTracking/tree/master/MEM_SOEKF},
  days = {4},
  url = {http://ieeexplore.ieee.org/document/7528018/}
}
```

PMHT Approach for Underwater Bearing-Only Multisensor-Multitarget Tracking in Clutter

X. Li, P. Willett, M. Baum, and Y. Li

IEEE Journal of Oceanic Engineering, vol. PP, no. 99, 2016.

BibTex DOI


@article{J_Li2016,
  title = {{PMHT Approach for Underwater Bearing-Only Multisensor-Multitarget Tracking in Clutter}},
  author = {Li, X. and Willett, P. and Baum, Marcus and Li, Y.},
  journal = {IEEE Journal of Oceanic Engineering},
  year = {2016},
  number = {99},
  pages = {1-9},
  volume = {PP},
  doi = {10.1109/JOE.2015.2506220},
  issn = {0364-9059}
}

2015

On Wasserstein Barycenters and MMOSPA Estimation

M. Baum, P. Willett, and U. D. Hanebeck

IEEE Signal Processing Letters, vol. 22, no. 10, Oct. 2015.

BibTex DOI


@article{2015_SPL_Baum,
  author = {Baum, Marcus and Willett, Peter and Hanebeck, Uwe D.},
  title = {{On Wasserstein Barycenters and MMOSPA Estimation}},
  journal = {IEEE Signal Processing Letters},
  year = {2015},
  volume = {22},
  number = {10},
  pages = {1511-1515},
  month = oct,
  doi = {10.1109/LSP.2015.2410217}
}

Recursive Bayesian Pose and Shape Estimation of 3D Objects Using Transformed Plane Curves

F. Faion, A. Zea, J. Steinbring, M. Baum, and U. D. Hanebeck

Proceedings of the IEEE ISIF Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF 2015), Bonn, Germany, 2015.

BibTex PDF DOI


@inproceedings{Faion2015a,
  author = {Faion, Florian and Zea, Antonio and Steinbring, Jannik and Baum, Marcus and Hanebeck, Uwe D.},
  title = {{Recursive Bayesian Pose and Shape Estimation of 3D Objects Using Transformed Plane Curves}},
  booktitle = {Proceedings of the IEEE ISIF Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF 2015)},
  year = {2015},
  address = {Bonn, Germany},
  month = oct,
  doi = {10.1109/SDF.2015.7347698},
  file = {:http\://isas.iar.kit.edu/pdf/SDF15_Faion.pdf:PDF}
}

Kalman Filter-based SLAM with Unknown Data Association using Symmetric Measurement Equations

M. Baum, B. Noack, and U. D. Hanebeck

Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Information Integration (MFI 2015), San Diego, California, USA, 2015.

BibTex PDF DOI


@inproceedings{MFI15_Baum,
  author = {Baum, Marcus and Noack, Benjamin and Hanebeck, Uwe D.},
  title = {{Kalman Filter-based SLAM with Unknown Data Association using Symmetric Measurement Equations}},
  booktitle = {Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Information Integration (MFI 2015)},
  year = {2015},
  address = {San Diego, California, USA},
  month = sep,
  doi = {10.1109/MFI.2015.7295744},
  file = {MFI15_Baum.pdf:http\://isas.iar.kit.edu/pdf/MFI15_Baum.pdf:PDF}
}

Depth Sensor Calibration by Means of Tracking an Extended Object

F. Faion, M. Baum, and U. D. Hanebeck

Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Information Integration (MFI 2015), San Diego, California, USA, 2015.

BibTex PDF


@inproceedings{MFI15_Faion,
  title = {{Depth Sensor Calibration by Means of Tracking an Extended Object}},
  author = {Faion, Florian and Baum, Marcus and Hanebeck, Uwe D.},
  booktitle = {Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Information Integration (MFI 2015)},
  year = {2015},
  address = {San Diego, California, USA},
  month = sep,
  file = {MFI15_Faion.pdf:http\://isas.iar.kit.edu/pdf/MFI15_Faion.pdf:PDF}
}

State Estimation for Ellipsoidally Constrained Dynamic Systems with Set-membership Pseudo Measurements

B. Noack, M. Baum, and U. D. Hanebeck

Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Information Integration (MFI 2015), San Diego, California, USA, 2015.

BibTex PDF DOI


@inproceedings{MFI15_Noack,
  author = {Noack, Benjamin and Baum, Marcus and Hanebeck, Uwe D.},
  title = {{State Estimation for Ellipsoidally Constrained Dynamic Systems with Set-membership Pseudo Measurements}},
  booktitle = {Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Information Integration (MFI 2015)},
  year = {2015},
  address = {San Diego, California, USA},
  month = sep,
  doi = {10.1109/MFI.2015.7295824},
  file = {MFI15_Noack.pdf:http\://isas.iar.kit.edu/pdf/MFI15_Noack.pdf:PDF}
}

TrackSort: Predictive Tracking for Sorting Uncooperative Bulk Materials

F. Pfaff, M. Baum, B. Noack, U. D. Hanebeck, R. Gruna, T. Längle, and J. Beyerer

Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Information Integration (MFI 2015), San Diego, California, USA, 2015.

BibTex PDF DOI


@inproceedings{MFI15_Pfaff,
  author = {Pfaff, Florian and Baum, Marcus and Noack, Benjamin and Hanebeck, Uwe D. and Gruna, Robin and Längle, Thomas and Beyerer, Jürgen},
  title = {{TrackSort: Predictive Tracking for Sorting Uncooperative Bulk Materials}},
  booktitle = {Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Information Integration (MFI 2015)},
  year = {2015},
  address = {San Diego, California, USA},
  month = sep,
  doi = {10.1109/MFI.2015.7295737},
  file = {:http\://isas.iar.kit.edu/pdf/MFI15_Pfaff.pdf:PDF}
}

A Closed-Form Likelihood for Particle Filters to Track Extended Objects with Star-Convex RHMs

J. Steinbring, M. Baum, A. Zea, F. Faion, and U. D. Hanebeck

Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Information Integration (MFI 2015), San Diego, California, USA, 2015.

BibTex PDF DOI


@inproceedings{MFI15_Steinbring,
  author = {Steinbring, Jannik and Baum, Marcus and Zea, Antonio and Faion, Florian and Hanebeck, Uwe D.},
  title = {{A Closed-Form Likelihood for Particle Filters to Track Extended Objects with Star-Convex RHMs}},
  booktitle = {Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Information Integration (MFI 2015)},
  year = {2015},
  address = {San Diego, California, USA},
  month = sep,
  doi = {10.1109/MFI.2015.7295740},
  file = {:http\://isas.iar.kit.edu/pdf/MFI15_Steinbring.pdf:PDF}
}

MMOSPA Estimation with Unknown Number of Objects

B. Balasingam, M. Baum, and P. Willett

IEEE China Summit and International Conference on Signal and Information Processing (ChinaSIP), Chengdu, China, 2015.

BibTex DOI


@inproceedings{Balasingam2015,
  author = {Balasingam, Balakumar and Baum, Marcus and Willett, Peter},
  title = {{MMOSPA Estimation with Unknown Number of Objects}},
  booktitle = {IEEE China Summit and International Conference on Signal and Information Processing (ChinaSIP)},
  year = {2015},
  address = {Chengdu, China},
  month = jul,
  doi = {10.1109/ChinaSIP.2015.7230496}
}

OSPA Barycenters for Clustering Set-Valued Data

M. Baum, B. Balasingam, P. Willett, and U. D. Hanebeck