Publications

Marc Sons, Henning Lategahn, Christoph G. Keller, Christoph Stiller. Multi trajectory pose adjustment for life-long mapping. In 2015 IEEE Intelligent Vehicles Symposium (IV), Seiten 901--906, June 2015. [ DOI | .pdf ]

Thao Dang, Martin Lauer, Philipp Bender, Markus Schreiber, Julius Ziegler, Uwe Franke, Hans Fritz, Tobias Strauss, Henning Lategahn, Christoph G. Keller, Eberhard Kaus, Clemens Rabe, Nils Appenrodt, David Pfeiffer, Frank Lindner, Fridtjof Stein, Friedrich Erbs, Markus Enzweiler, Carsten Knöppel, Jochen Hipp, Martin Haueis, Maximilian Trepte, Carsten Brenk, Andreas Tamke, Mohammad Ghanaat, Markus Braun, Armin Joos, Horst Mock, Martin Hein, Dominik Petrich, Nicolai Schneider, Winfried Kronjäger, Eberhard Zeeb, Christoph Stiller, Ralf G. Herrtwich. Autonomes Fahren auf der historischen Bertha-Benz-Route. tm-Technisches Messen, 82(5):280--297, 2015.

Julius Ziegler, Henning Lategahn, Markus Schreiber, Christoph G. Keller, Carsten Knöppel, Jochen Hipp, Martin Haueis, Christoph Stiller. Video based localization for Bertha. In IEEE Intelligent Vehicles Symposium, Seiten 1231--1238, June 2014. [ DOI ]

Henning Lategahn, Christoph Stiller. Vision-Only Localization. IEEE Trans. Intelligent Transportation Systems, 15(3):1246--1257, June 2014. [ DOI | .pdf ]

Henning Lategahn, Johannes Beck, Christoph Stiller. DIRD is an illumination robust descriptor. In IEEE Intelligent Vehicles Symposium, Seiten 756--761, June 2014. [ DOI ]

Henning Lategahn, Christoph Stiller. Videobasierte Kartierung und Lokalisierung für hochautomatisches Fahren. In 15. Braunschweiger Symposium AAET, Braunschweig, Deutschland, February 2014.

Julius Ziegler, Henning Lategahn, Markus Schreiber, Christoph G Keller, Carsten Knoppel, Jochen Hipp, Martin Haueis, Christoph Stiller. Video based localization for bertha. In Intelligent Vehicles Symposium Proceedings, 2014 IEEE, Seiten 1231--1238. IEEE, 2014.

Julius Ziegler, Philipp Bender, Markus Schreiber, Henning Lategahn, Tobias Strauss, Christoph Stiller, Thao Dang, U. Franke, N. Appenrodt, C.G. Keller, E. Kaus, R.G. Herrtwich, C. Rabe, D. Pfeiffer, F. Lindner, F. Stein, F. Erbs, M. Enzweiler, C. Knöppel, J. Hipp, M. Haueis, M. Trepte, C. Brenk, A. Tamke, M. Ghanaat, M. Braun, A. Joos, H. Fritz, H. Mock, M. Hein, E. Zeeb. Making Bertha Drive - An Autonomous Journey on a Historic Route. IEEE Intelligent Transportation Systems Magazine, 6(2):8--20, 2014. [ .pdf ]

Julius Ziegler, Philipp Bender, Henning Lategahn, Markus Schreiber, Tobias Strauss, Thao Dang, Christoph Stiller. Kartengestütztes Fahren auf der Bertha-Benz-Route von Mannheim nach Pforzheim. In 9. Workshop Fahrerassistenzsysteme, Seiten 79--94, Walting, 2014. Unidas e.V. (best paper award). [ .pdf ]

Henning Lategahn, Christoph Stiller. Hochgenaue Eigenlokalisierung mit einer Monokamera. In 6. Tagung Fahrerassistenz, München, Deutschland, December 2013.

Henning Lategahn, Markus Schreiber, Julius Ziegler, Christoph Stiller. Urban Localization with Camera and Inertial Measurement Unit. In IEEE Intelligent Vehicles Symposium, Seiten 719--724, Gold Coast, Australia, June 2013. [ .pdf ]

Henning Lategahn, Johannes Beck, Bernd Kitt, Christoph Stiller. How to Learn an Illumination Robust Image Feature for Place Recognition. In IEEE Intelligent Vehicles Symposium, Seiten 285--291, Gold Coast, Australia, June 2013. [ .pdf ]

Henning Lategahn. Mapping and Localization in Urban Environments Using Cameras. Dissertation, Institut für Mess- und Regelungstechnik, Karlsruher Institut für Technologie (KIT), Karlsruhe, 2013. [ http ]

Henning Lategahn, Christoph Stiller. Experimente zur hochpräzisen landmarkenbasierten Eigenlokalisierung in unsicherheitsbehafteten digitalen Karten. In 8. Workshop Fahrerassistenzsysteme (FAS2012)., Seiten 39--46, Walting, Germany, September 2012. [ .pdf ]

Bernd Kitt, Henning Lategahn. Trinocular Optical Flow Estimation for Intelligent Vehicle Applications. In IEEE International Conference on Intelligent Transportation Systems, Anchorage, AK, USA, September 2012.

Henning Lategahn, Christoph Stiller. City GPS using Stereo Vision. In IEEE International Conference on Vehicular Electronics and Safety (ICVES), Seiten 1--6, Istanbul, Turkey, July 2012. [ .pdf ]

Henning Lategahn, Andreas Geiger, Bernd Kitt, Christoph Stiller. Motion-without-Structure: Real-time Multipose Optimization for Accurate Visual Odometry. In IEEE Intelligent Vehicles Symposium, Alcala de Henares, Spain, 2012. [ .pdf ]

Bernd Kitt, Jörn Rehder, Andrew Chambers, Miriam Schönbein, Henning Lategahn, Sanjiv Singh. Monocular Visual Odometry using a Planar Road Model to Solve Scale Ambiguity. In Proc. of the European Conference on Mobile Robots, Örebro, Sweden, September 2011.

Henning Lategahn, Thorsten Graf, Carsten Hasberg, Bernd Kitt, Jan Effertz. Mapping in Dynamic Environments Using Stereo Vision. In IEEE Intelligent Vehicles Symposium, Baden-Baden, Germany, 2011.

Henning Lategahn, Andreas Geiger, Bernd Kitt. Visual SLAM for Autonomous Ground Vehicles. In IEEE International Conference on Robotics and Automation, Shanghai, China, 2011. [ .pdf ]

Bernd Kitt, Benjamin Ranft, Henning Lategahn. Detection and Tracking of Independently Moving Objects in Urban Environments. In IEEE International Conference in Intelligent Transportation Systems, Madeira Island, Portugal, September 2010.

Bernd Kitt, Benjamin Ranft, Henning Lategahn. Block-Matching Based Optical Flow Estimation with Reduced Search Space Based on Geometric Constraints. In IEEE International Conference in Intelligent Transportation Systems, Madeira Island, Portugal, September 2010.

Henning Lategahn, Wojtek Derendarz, Thorsten Graf, Bernd Kitt, Jan Effertz. Occupancy Grid Computation from Dense Stereo and Sparse Structure and Motion Points for Automotive Applications. In IEEE Intelligent Vehicles Symposium, June 2010.

Bernd Kitt, Andreas Geiger, Henning Lategahn. Visual Odometry based on Stereo Image Sequences with RANSAC-based Outlier Rejection Scheme. In IEEE Intelligent Vehicles Symposium, June 2010. [ .pdf ]

Henning Lategahn, Andreas Wege, Thorsten Graf, Jan Effertz, Bernd Kitt. Schnelle Berechnung von detaillierten Belegungsgittern aus dichten Stereodisparitätsbildern. In Sicherheit durch Fahrerassistenz, TÜV Süd, 2010.

Henning Lategahn, Sebastian Groß, Thomas Stehle, Til Aach. Texture Classification by Modeling Joint Distributions of Local Patterns with Gaussian Mixtures. IEEE Transactions on Image Processing, 19:1548 -- 1557, 2010. [ http ]