People

Head

Prof. Dr.-Ing. Marcus Baum

Office	Room 3.115
Tel.	+49 551 39 20224
E-Mail	marcus.baum@cs.uni-goettingen.de

More information

Assistance / Administration

Tina Bockler

Office	Room 3.107
Tel.	+49 551 39 20232
E-Mail	tina.bockler@informatik.uni-goettingen.de

Gunnar Krull

Office	Room 2.108
Tel.	+49 551 39 20225
E-Mail	krull@informatik.uni-goettingen.de

Senior Researcher

Simon Steuernagel, Dr.

Office	Room 3.101
Tel.	+49 551 39 20234
E-Mail	simon.steuernagel@cs.uni-goettingen.de
Research area	Extended object tracking, SLAM

Publications: Simon Steuernagel

Odyssey: An Automotive Lidar-Inertial Odometry Dataset with GNSS-Denied situations

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

The International Journal of Robotics Research, Sept. 2026.
Accepted, to appear, Web page

BibTex


@article{Kurda2026a,
  author = {Kurda, Aaron and Steuernagel, Simon and Jung, Lukas and Baum, Marcus},
  title = {{O}dyssey: An Automotive Lidar-Inertial Odometry Dataset with {GNSS}-Denied situations},
  journal = {The International Journal of Robotics Research},
  year = {2026},
  month = sep,
  webnote = {Accepted, to appear,  Web page }
}

A Fast Data Association Method for Visual Multi-Object Tracking

S. Steuernagel and M. Baum

29th International Conference on Information Fusion (FUSION), 2026.

BibTex


@inproceedings{Steuernagel2026,
  author = {Steuernagel, Simon and Baum, Marcus},
  title = {A Fast Data Association Method for Visual Multi-Object Tracking},
  booktitle = {29th International Conference on Information Fusion (FUSION)},
  year = {2026},
  month = jun,
  publisher = {IEEE},
  note = {to appear}
}

Multi-object Tracking in 3D LiDAR Based on Frame-wise Differences

L. Steinegger, S. Steuernagel, and M. Baum

29th International Conference on Information Fusion (FUSION), 2026.

BibTex


@inproceedings{LukasSteinegger2026,
  author = {Steinegger, Lukas and Steuernagel, Simon and Baum, Marcus},
  title = {Multi-object Tracking in 3D LiDAR Based on Frame-wise Differences},
  booktitle = {29th International Conference on Information Fusion (FUSION)},
  year = {2026},
  month = jun,
  publisher = {IEEE},
  note = {to appear}
}

Online Lidar-Only Odometry with Retrospective Refinement of Overlapping Submaps

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

arXiv preprint, 2026.

BibTex DOI


@article{Kurda2025,
  author = {Kurda, Aaron and Steuernagel, Simon and Baum, Marcus},
  title = {Online Lidar-Only Odometry with Retrospective Refinement of Overlapping Submaps},
  journal = {arXiv preprint},
  year = {2026},
  doi = {10.48550/ARXIV.2503.21293},
  keywords = {Preprint},
  technicalreport = {Preprint}
}

Quadratic Kalman Filter for Elliptical Extended Object Tracking based on Decoupling State Components

S. Steuernagel and M. Baum

arXiv preprint, Dec. 2025.

BibTex DOI


@article{Steuernagel2025a,
  author = {Steuernagel, Simon and Baum, Marcus},
  title = {Quadratic {K}alman Filter for Elliptical Extended Object Tracking based on Decoupling State Components},
  journal = {arXiv preprint},
  year = {2025},
  month = dec,
  doi = {10.48550/ARXIV.2512.14426},
  eprint = {2512.14426},
  keywords = {Preprint},
  primaryclass = {eess.SP},
  publisher = {arXiv},
  technicalreport = {Preprint}
}

Decoupled Quadratic Filter for Extended Object Tracking using Multiplicative Noise

S. Steuernagel and M. Baum

2025 IEEE Sensor Data Fusion: Trends, Solutions, Applications (SDF), 2025.

BibTex DOI Source Code


@inproceedings{Steuernagel2025_SDF,
  author = {Steuernagel, Simon and Baum, Marcus},
  title = {Decoupled Quadratic Filter for Extended Object Tracking using Multiplicative Noise},
  booktitle = {2025 IEEE Sensor Data Fusion: Trends, Solutions, Applications (SDF)},
  year = {2025},
  pages = {1-7},
  month = nov,
  publisher = {IEEE},
  code = {https://github.com/Fusion-Goettingen/SDF_2025_Steuernagel_QuadraticEOT},
  doi = {10.1109/SDF67080.2025.11330878}
}

OKULAr - Optische KI-basierte Umfeldwahrnehmung und Lokalisierung für automatisierte Fahrzeuge

F. Andert, M. Baum, O. Böttcher, E. v. Hinüber, J. Honer, L. Jung, H. Kaulbersch, N. Kornfeld, A. Kurda, A. Mushyam, J. P. Schäfer, O. Schmidtke, and S. Steuernagel

Nov. 2025.

BibTex DOI


@article{Andert2025,
  author = {Andert, Franz and Baum, Marcus and Böttcher, Oliver and v. Hinüber, Edgar and Honer, Jens and Jung, Lukas and Kaulbersch, Hauke and Kornfeld, Nils and Kurda, Aaron and Mushyam, Aditya and Schäfer, Jörg Peter and Schmidtke, Ofri and Steuernagel, Simon},
  title = {{OKULAr} - {O}ptische {KI}-basierte {U}mfeldwahrnehmung und {L}okalisierung für automatisierte {F}ahrzeuge},
  year = {2025},
  month = nov,
  doi = {10.34657/26854},
  keywords = {Preprint},
  publisher = {Hannover: Technische Informationsbibliothek},
  technicalreport = {technical report}
}

Reducing Drift of Lidar Odometry by Incorporating OpenStreetMap Building Data

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

2025 European Conference on Mobile Robots (ECMR), Padua, Italy, 2025.

BibTex DOI Preprint Source Code


@inproceedings{Kurda2025a,
  author = {Kurda, Aaron and Steuernagel, Simon and Jung, Lukas and Baum, Marcus},
  booktitle = {2025 European Conference on Mobile Robots (ECMR)},
  title = {Reducing Drift of Lidar Odometry by Incorporating OpenStreetMap Building Data},
  year = {2025},
  address = {Padua, Italy},
  month = sep,
  publisher = {IEEE},
  doi = {10.1109/ECMR65884.2025.11163206},
  preprint = {https://www.techrxiv.org/users/812931/articles/1214384-reducing-drift-of-lidar-odometry-by-incorporating-openstreetmap-building-data},
  code = {https://github.com/Fusion-Goettingen/ECMR_2025_Kurda_OSM}
}

Extended Object Tracking by Rao-Blackwellized Particle Filtering for Orientation Estimation

S. Steuernagel and M. Baum

IEEE Transactions on Signal Processing, vol. 73, 2025.

BibTex DOI Source Code


@article{Steuernagel2025,
  author = {Steuernagel, Simon and Baum, Marcus},
  journal = {IEEE Transactions on Signal Processing},
  title = {Extended Object Tracking by {R}ao-{B}lackwellized Particle Filtering for Orientation Estimation},
  year = {2025},
  pages = {2590-2602},
  volume = {73},
  code = {https://github.com/Fusion-Goettingen/TSP_2025_Steuernagel_RBPF},
  doi = {10.1109/TSP.2025.3574689}
}

Track-to-Track Association for Collective Perception based on Stochastic Optimization

L. M. Wolf, V. A. Wolff, S. Steuernagel, K. Thormann, and M. Baum

arXiv preprint, 2025.

BibTex DOI


@article{Wolf2025,
  author = {Wolf, Laura M. and Wolff, Vincent A. and Steuernagel, Simon and Thormann, Kolja and Baum, Marcus},
  title = {Track-to-Track Association for Collective Perception based on Stochastic Optimization},
  journal = {arXiv preprint},
  year = {2025},
  doi = {10.48550/arXiv.2510.21278},
  keywords = {Preprint},
  technicalreport = {Preprint}
}

Modeling Contour Measurements of Elliptical Extended Objects via Gaussian Spatial Distributions

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

2024 Sensor Data Fusion: Trends, Solutions, Applications (SDF), 2024.

BibTex DOI Source Code


@inproceedings{Steuernagel2024b,
  author = {Steuernagel, Simon and Thormann, Kolja and Baum, Marcus},
  title = {Modeling Contour Measurements of Elliptical Extended Objects via {G}aussian Spatial Distributions},
  booktitle = {2024 Sensor Data Fusion: Trends, Solutions, Applications (SDF)},
  year = {2024},
  pages = {1--8},
  month = nov,
  publisher = {IEEE},
  code = {https://github.com/Fusion-Goettingen/SDF_2024_Steuernagel_ContourEOT},
  doi = {10.1109/sdf63218.2024.10773723}
}

Random Matrix-based Tracking of Rectangular Extended Objects with Contour Measurements

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

2024 27th International Conference on Information Fusion (FUSION), 2024.

BibTex DOI Source Code


@inproceedings{Steuernagel2024a,
  author = {Steuernagel, Simon and Thormann, Kolja and Baum, Marcus},
  booktitle = {2024 27th International Conference on Information Fusion (FUSION)},
  title = {Random Matrix-based Tracking of Rectangular Extended Objects with Contour Measurements},
  year = {2024},
  month = jul,
  pages = {1--8},
  publisher = {IEEE},
  doi = {10.23919/fusion59988.2024.10706288},
  code = {https://github.com/Fusion-Goettingen/FUSION_2024_Steuernagel_LidarRM}
}

Indoor Localization based on Short-Range Radar and Rotating Landmarks

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

2024 27th International Conference on Information Fusion (FUSION), 2024.

BibTex DOI Source Code


@inproceedings{Thormann2024,
  author = {Thormann, Kolja and Steuernagel, Simon and Baum, Marcus},
  booktitle = {2024 27th International Conference on Information Fusion (FUSION)},
  title = {Indoor Localization based on Short-Range Radar and Rotating Landmarks},
  year = {2024},
  month = jul,
  pages = {1--8},
  publisher = {IEEE},
  code = {https://github.com/Fusion-Goettingen/FUSION_2024_Thormann_Landmarks},
  doi = {10.23919/fusion59988.2024.10706316}
}

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), Bonn, Germany, 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 {G}aussian Mixtures and Pairwise {W}asserstein Distances},
  year = {2023},
  address = {Bonn, Germany},
  month = nov,
  pages = {1-8},
  publisher = {IEEE},
  code = {https://github.com/Fusion-Goettingen/MFI_2023_Steuernagel_GWDICP},
  doi = {10.1109/sdf-mfi59545.2023.10361440}
}

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), Charleston, SC, USA, 2023.

BibTex DOI Source Code


@inproceedings{Steuernagel_2023b,
  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},
  address = {Charleston, SC, USA},
  month = jun,
  pages = {1-7},
  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), Charleston, SC, USA, 2023.

BibTex DOI Source Code


@inproceedings{Steuernagel_2023,
  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},
  address = {Charleston, SC, USA},
  month = jun,
  pages = {1-8},
  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), Charleston, SC, USA, 2023.

BibTex DOI Source Code


@inproceedings{Wolf_2023,
  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},
  address = {Charleston, SC, USA},
  month = jun,
  pages = {1-7},
  publisher = {IEEE},
  code = {https://github.com/Fusion-Goettingen/Fusion_2023_Wolf_T2TA},
  doi = {10.23919/fusion52260.2023.10224113}
}

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

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

2022 25th International Conference on Information Fusion (FUSION), Linköping, Sweden, 2022.

BibTex DOI Source Code


@inproceedings{2022_Steuernagel,
  author = {Steuernagel, Simon and Thormann, Kolja and Baum, Marcus},
  booktitle = {2022 25th International Conference on Information Fusion (FUSION)},
  title = {{CNN}-based Shape Estimation for Extended Object Tracking using Point Cloud Measurements},
  year = {2022},
  address = {Link\"oping, Sweden},
  month = jul,
  pages = {1-8},
  publisher = {IEEE},
  code = {https://github.com/Fusion-Goettingen/Fusion2022_Steuernagel_CNN-EOT},
  doi = {10.23919/fusion49751.2022.9841254}
}

PhD Students

Clarissa Böker, M. Sc.

Affiliation	German Aerospace Center (DLR), Institute of Transportation Sytems, Braunschweig
Research area	Track level fusion, collective perception

Nils Kornfeld, M. Sc.

Affiliation	German Aerospace Center (DLR), Institute of Transportation Sytems, Berlin
Research area	Machine learning, deep learning, computer vision, tracking

Aaron Kurda, M. Sc.

Office	Room 3.101
Tel.	+49 551 39 20230
E-Mail	aaron.kurda@cs.uni-goettingen.de
Research area	Localization, Odometry, SLAM

Publications: Aaron Kurda

Odyssey: An Automotive Lidar-Inertial Odometry Dataset with GNSS-Denied situations

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

The International Journal of Robotics Research, Sept. 2026.
Accepted, to appear, Web page

BibTex


@article{Kurda2026a,
  author = {Kurda, Aaron and Steuernagel, Simon and Jung, Lukas and Baum, Marcus},
  title = {{O}dyssey: An Automotive Lidar-Inertial Odometry Dataset with {GNSS}-Denied situations},
  journal = {The International Journal of Robotics Research},
  year = {2026},
  month = sep,
  webnote = {Accepted, to appear,  Web page }
}

Online Lidar-Only Odometry with Retrospective Refinement of Overlapping Submaps

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

arXiv preprint, 2026.

BibTex DOI


@article{Kurda2025,
  author = {Kurda, Aaron and Steuernagel, Simon and Baum, Marcus},
  title = {Online Lidar-Only Odometry with Retrospective Refinement of Overlapping Submaps},
  journal = {arXiv preprint},
  year = {2026},
  doi = {10.48550/ARXIV.2503.21293},
  keywords = {Preprint},
  technicalreport = {Preprint}
}

Robot, adapted for movement underneath and in contact with a ceiling,

M. Baum and A. Kurda

2026.
Patent Applications US-20260274354-A1, EP4806793A1 and DE102025109673

BibTex


@patent{Baum2026Patent,
  year = {2026},
  author = {Baum, Marcus and Kurda, Aaron},
  title = {Robot, adapted for movement underneath and in contact with a ceiling},
  patent = {Patent Applications US-20260274354-A1, EP4806793A1 and DE102025109673}
}

OKULAr - Optische KI-basierte Umfeldwahrnehmung und Lokalisierung für automatisierte Fahrzeuge

F. Andert, M. Baum, O. Böttcher, E. v. Hinüber, J. Honer, L. Jung, H. Kaulbersch, N. Kornfeld, A. Kurda, A. Mushyam, J. P. Schäfer, O. Schmidtke, and S. Steuernagel

Nov. 2025.

BibTex DOI


@article{Andert2025,
  author = {Andert, Franz and Baum, Marcus and Böttcher, Oliver and v. Hinüber, Edgar and Honer, Jens and Jung, Lukas and Kaulbersch, Hauke and Kornfeld, Nils and Kurda, Aaron and Mushyam, Aditya and Schäfer, Jörg Peter and Schmidtke, Ofri and Steuernagel, Simon},
  title = {{OKULAr} - {O}ptische {KI}-basierte {U}mfeldwahrnehmung und {L}okalisierung für automatisierte {F}ahrzeuge},
  year = {2025},
  month = nov,
  doi = {10.34657/26854},
  keywords = {Preprint},
  publisher = {Hannover: Technische Informationsbibliothek},
  technicalreport = {technical report}
}

Reducing Drift of Lidar Odometry by Incorporating OpenStreetMap Building Data

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

2025 European Conference on Mobile Robots (ECMR), Padua, Italy, 2025.

BibTex DOI Preprint Source Code


@inproceedings{Kurda2025a,
  author = {Kurda, Aaron and Steuernagel, Simon and Jung, Lukas and Baum, Marcus},
  booktitle = {2025 European Conference on Mobile Robots (ECMR)},
  title = {Reducing Drift of Lidar Odometry by Incorporating OpenStreetMap Building Data},
  year = {2025},
  address = {Padua, Italy},
  month = sep,
  publisher = {IEEE},
  doi = {10.1109/ECMR65884.2025.11163206},
  preprint = {https://www.techrxiv.org/users/812931/articles/1214384-reducing-drift-of-lidar-odometry-by-incorporating-openstreetmap-building-data},
  code = {https://github.com/Fusion-Goettingen/ECMR_2025_Kurda_OSM}
}

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), Bonn, Germany, 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 {G}aussian Mixtures and Pairwise {W}asserstein Distances},
  year = {2023},
  address = {Bonn, Germany},
  month = nov,
  pages = {1-8},
  publisher = {IEEE},
  code = {https://github.com/Fusion-Goettingen/MFI_2023_Steuernagel_GWDICP},
  doi = {10.1109/sdf-mfi59545.2023.10361440}
}

Claudia Malzer, M. Sc.

Research area

Spatial information systems, clustering

Publications: Claudia Malzer

A Multi-Stage Clustering Framework for Track-to-Track-Association

C. Malzer, L. M. Wolf, and M. Baum

2025 IEEE Sensor Data Fusion: Trends, Solutions, Applications (SDF), 2025.
Best Paper Award, 3rd Place

BibTex DOI Certificate


@inproceedings{Malzer2025_SDF,
  author = {Malzer, Claudia and Wolf, Laura M. and Baum, Marcus},
  title = {A Multi-Stage Clustering Framework for Track-to-Track-Association},
  booktitle = {2025 IEEE Sensor Data Fusion: Trends, Solutions, Applications (SDF)},
  year = {2025},
  pages = {1-8},
  month = nov,
  publisher = {IEEE},
  note = {\horef{https://filepool.informatik.uni-goettingen.de/gcms/fsn/pdf/awards/Award_SDF2025.pdf}{Best Paper Award, 3rd Place}},
  award = {Best Paper Award, 3rd Place},
  certificate = {https://filepool.informatik.uni-goettingen.de/gcms/fsn/pdf/awards/Award_SDF2025.pdf},
  doi = {10.1109/SDF67080.2025.11330900}
}

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},
  pages = {3410},
  volume = {21},
  article-number = {3410},
  code = {https://github.com/Fusion-Goettingen/Constraint-based-Clustering},
  doi = {10.3390/s21103410},
  publisher = {MDPI AG},
  url = {https://www.mdpi.com/1424-8220/21/10/3410}
}

A Hybrid Approach To Hierarchical Density-based Cluster Selection

C. Malzer and M. Baum

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

BibTex DOI Source Code


@inproceedings{2020_Malzer,
  author = {Malzer, Claudia and Baum, Marcus},
  booktitle = {2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)},
  title = {A Hybrid Approach To Hierarchical Density-based Cluster Selection},
  year = {2020},
  address = {Virtual},
  month = sep,
  pages = {223-228},
  publisher = {IEEE},
  code = {https://hdbscan.readthedocs.io/en/latest/how_to_use_epsilon.html},
  doi = {10.1109/mfi49285.2020.9235263}
}

Lukas Steinegger, M. Sc.

Office	Room 3.101
Tel.	+49 551 39 26039
E-Mail	lukas.steinegger@cs.uni-goettingen.de
Research area	Multi-object tracking, machine learning, reinforcement learning

Publications: Lukas Steinegger

Multi-object Tracking in 3D LiDAR Based on Frame-wise Differences

L. Steinegger, S. Steuernagel, and M. Baum

29th International Conference on Information Fusion (FUSION), 2026.

BibTex


@inproceedings{LukasSteinegger2026,
  author = {Steinegger, Lukas and Steuernagel, Simon and Baum, Marcus},
  title = {Multi-object Tracking in 3D LiDAR Based on Frame-wise Differences},
  booktitle = {29th International Conference on Information Fusion (FUSION)},
  year = {2026},
  month = jun,
  publisher = {IEEE},
  note = {to appear}
}

Alumni

Shradha Fowdur, Dr.

Hauke Kaulbersch, Dr.

Simon Ollander, Dr.

Fabian Sigges, Dr.

Kolja Thormann, Dr.

Laura Wolf, Dr.

Shishan Yang, Dr.