70 citations · 200 across the 9 of their papers we have counts for
10 papers
When Geometry is not Enough: Using Reflector Markers in Lidar SLAM
Gerhard Kurz, Sebastian A. Scherer, Peter Biber +1
Lidar-based SLAM systems perform well in a wide range of circumstances by relying on the geometry of the environment. However, even mature and reliable approaches struggle when the…
Detecting Invalid Map Merges in Lifelong SLAM
Matthias Holoch, Gerhard Kurz, Peter Biber
For Lifelong SLAM, one has to deal with temporary localization failures, e.g., induced by kidnapping. We achieve this by starting a new map and merging it with the previous map as…
Multiple Instance Learning for Brain Tumor Detection from Magnetic Resonance Spectroscopy Data
Diyuan Lu, Gerhard Kurz, Nenad Polomac +3
We apply deep learning (DL) on Magnetic resonance spectroscopy (MRS) data for the task of brain tumor detection. Medical applications often suffer from data scarcity and corruption…
Geometry-based Graph Pruning for Lifelong SLAM
Gerhard Kurz, Matthias Holoch, Peter Biber
Lifelong SLAM considers long-term operation of a robot where already mapped locations are revisited many times in changing environments. As a result, traditional graph-based SLAM a…
Three-dimensional Simultaneous Shape and Pose Estimation for Extended Objects Using Spherical Harmonics
Gerhard Kurz, Florian Faion, Florian Pfaff +2
We propose a new recursive method for simultaneous estimation of both the pose and the shape of a three-dimensional extended object. The key idea of the presented method is to repr…
Directional Statistics and Filtering Using libDirectional
Gerhard Kurz, Igor Gilitschenski, Florian Pfaff +4
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 c…
Recursive Bayesian Filtering in Circular State Spaces
Gerhard Kurz, Igor Gilitschenski, Uwe D. Hanebeck
For recursive circular filtering based on circular statistics, we introduce a general framework for estimation of a circular state based on different circular distributions, specif…
Efficient Evaluation of the Probability Density Function of a Wrapped Normal Distribution
Gerhard Kurz, Igor Gilitschenski, Uwe D. Hanebeck
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…
Unscented Orientation Estimation Based on the Bingham Distribution
Igor Gilitschenski, Gerhard Kurz, Simon J. Julier +1
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 un…
Recursive Estimation of Orientation Based on the Bingham Distribution
Gerhard Kurz, Igor Gilitschenski, Simon Julier +1
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…