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Main research areas
- Detailed analysis and comparison of lidar and 4D high-resolution radar data
- Adaptation and extension of existing 3D (lidar) object detectors including post-processing methods to 4D high-resolution radar data, in particular taking into account radar-specific measured values
([relative] radial velocity and accumulation time)" - Combination of radar-based 3D object recognition with other perception tasks, e.g. multi-object tracking (MOT) and multi-path reflection detection
- Multi-modal, context-based and interaction-aware situation prediction (coupled trajectory prediction of all road users)
- Studies on the interaction and coupling between planning and prediction methods (model- and data-based)
Conference contributions and presentations
2024
- Palmer, P., M. Krüger, R. Altendorfer and T. Bertram: "Multi-Object Tracking based on Imaging Radar 3D Object Detection", ATZ Conference Automated Driving, Frankfurt, Germany March 2024
- Palmer, P., M. Krüger, S. Schütte, R. Altendorfer, G. Adam and T. Bertram : "LEROjD: Lidar Extended Radar-Only Object Detection", ECVA European Conference on Computer Vision (ECCV), Milan, Italy October 2024
2023
- Palmer, P., M. Krueger, R. Altendorfer and T.. Bertram: "Ego-Motion Estimation and Dynamic Motion Separation from 3D Point Clouds for Accumulating Data and Improving 3D Object Detection", Automotive meets Electronics (AmE), Dortmund, Germany, June 2023
- Palmer, P., M. Krueger, R. Altendorfer. G. Adam and T. Bertram: "Reviewing 3D Object Detectors in the Context of High-Resolution 3+1D Radar", CVF/ IEEE Conference on Computer Vision and Pattern Recognition (CVPR) - Workshop on 3D Vision and Robotics, Vancouver, Canada, June 2023
- Diehl, C., J. Adamek, M. Krueger, F. Hoffmann and T. Bertram: "Differentiable Constrained Imitation Learning for Robot Motion Planning and Control", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Workshop on Traffic Agent Modeling for Autonomous Driving Simulation, Detroit, USA, October 2023
- Diehl, C., T. Klosek, M. Krueger, N. Murzyn, T. Osterburg, T. Bertram: "Energy-based Potential Games for Joint Motion Forecasting and Control", Conference on Robot Learning (CoRL), Atlanta, USA, November 2023
2021
- Diehl C., T. Sievernich, M. Krüger, F. Hoffmann, T. Bertam: UMBRELLA: Uncertainty-Aware Model-Based Offline Reinforcement Learning Leveraging Planning, Advances in Neural Information Processing Systems - Machine Learning for Autonomous Driving Workshop (NeuRIPS 2021 ML4AD)
2021
2020
- Krüger, M., A. Stockem Novo, T. Nattermann, T. Bertram: Interaction-Aware Trajectory Prediction based on a 3D Spatio-Temporal Tensor Representation using Convolutional-Recurrent Neural Networks, 31st IEEE Intelligent Vehicles Symposium (IV),
20.10.2020
2019
- Krüger, M., A. Stockem Novo, T. Nattermann and T. Bertram: Probabilistic Lane Change Prediction using Gaussian Process Neural Networks, IEEE International Conference on Intelligent Transportation Systems (ITSC), Auckland, New Zealand
October 2019 - Krüger, M., A. Stockem Novo, T. Nattermann, M. Mohamed and T. Bertram: Reducing Noise in Label Annotation: A Lane Change Prediction Case Study, IFAC Symposium on Intelligent Autonomous Vehicles (IAV), Gdansk, Poland
July 2019 - Stannartz, N., C. Wissing, M. Krüger, A. Tolmidis, S. Ali, T. Nattermann and T. Bertram: Ego-Motion Correction based on Static Objects detected by an Automotive Lidar Sensor System, Automotive meets Electronics (AmE), Dortmund
March 2019 - Krüger, M., A. Stockem Novo, T. Nattermann, M. Mohamed and T. Bertram: Environmental Model Extension for Lane Change Prediction with Neural Networks, International Stuttgart Symposium (ISS), Stuttgart, Germany
March 2019
2018
- Schmidt, M., C. Lienke, M. Oeljeklaus, M. Krüger, T. Nattermann, M. Mohamed, F. Hoffmann and T. Bertram: Lane Recognition with Deep Learning for Automated Driving Functions, 28th Workshop Computational Intelligence, Dortmund, Germany
November 2018 - Krüger, M., A. Stockem Novo, T. Nattermann, K.-H. Glander and T. Bertram: Lane Change Prediction Using Neural Networks Considering Classwise Non-uniformly Distributed Data, Automotive meets Electronics (AmE), Dortmund, Germany
March 2018
2017
- Krüger, M., S. Meuresch, A. Stockem Novo, T. Nattermann, K.-H. Glander, C. Haß and T. Bertram: Method and Test for the Use of Neural Networks for Driving Situation Analysis in Automated Driving, VDI/VDE Mechatronics Conference 2017, Dresden, Germany
March 2017
2016
- Krüger, M., S. Meuresch, A. Stockem Novo, T. Nattermann, K.-H. Glander and T. Bertram: Structural analysis of a neural network for lane change prediction for automated driving, 26th Workshop Computational Intelligence, Dortmund, Germany
September 2016
Journal and book contributions
2023
- Diehl, C., T. Sievernich, M. Krüger, F. Hoffmann, T. Bertram: "Uncertainty-Aware Model-Based Offline Reinforcement Learning for Automated Driving", IEEE Robotics and Automation Letters (RA-L), 2023
2022
- Krüger, M., P. Palmer, C. Diehl, T. Osterburg, T. Bertram: "Recognition Beyond Perception: Environmental Model Completion by Reasoning for Occluded Vehicles", IEEE Robotics and Automation Letters (RA-L), 2022.
- Stockem Novo, A., M. Krüger , M.Stolpe and T. Bertram: A Review on Scene Prediction for Automated Driving, Physics 2022, 4, 132-159. https://doi.org/10.3390/physics4010011
1. February 2022
2019
- Schmidt, M., M. Krüger, C. Linke, M. Oeljeklaus, T. Nattermann, M. Mohamed, F. Hoffmann and T. Bertram: Lane detection with deep learning for automated driving functions, at - Automatisierungstechnik, Vol. 67, No. 10, pp. 866-878
September 2019
Student research projects / Bachelor's / Master's theses
- Andrii Kovach
Investigation of performance variances in object recognition using random initialization
Bachelor's thesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
2025 - Damian Lupascu
Correction of object motion by point cloud flow estimation for radar point cloud accumulation
Bachelorthesis at the Chair of Control Systems Engineering, Dortmund University of Technology,
2025 - Shubhankar Kulkarni
Enhancing Explosive Motion in Humanoid Robotics with Imitation and Reinforcement Learning
Master's thesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
2025 - Mikhail Krigman
Feasibility study of a "low-cost" robotic arm for throwing games
Bachelor's thesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
2025 - Naveen Prasath R. Balakrishnan
Kernel Density Estimation-Based 3D Radar Object Detection
Master's thesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
2025 - Markus Düthmann
Understanding Attention and Query Mechanisms in Transformer-based Object Detection
Master's thesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
2025 - Mohamed Hedi Ben Rejeb
Method for generating radar backscatter centers from image data and point clouds for radar sensor models
Master's thesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
2025 - Jan Lukas Grüter
Pruning the Feature Space in Cross-Modal Pre-Training of Radar Object Detectors'
Bachelor's thesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
2025 - Anushka Gulati
Improving Monocular 3D Object Detection through End-to-End Pseudo-Lidar with Enhanced Representation Learning on Auxiliary Tasks
Master's thesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
2024 - Meghna Umesh Prabhu
Generative Model based Simulation of 3+1D High-Resolution Radar Sensors
Masterthesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
2023 - Duran Turan
Improvement of object detection in high-resolution radar point clouds using lidar -- Investigation of methods for knowledge transfer
Bachelor's thesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
2023 - Tobias Klosek
Differentiable Data-Driven Game-Theoretic Prediction and Planning
Master's thesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
2023 - P. Kumar Jayaraj
3D Multi-Modal Object Detection by an End-to-End Trainable Raw Sparse Lidar and Pseudo-Lidar Point Cloud Fusion Architecture
Master's thesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
2023 - J-M. Bergmann
Interaction-Aware Reconstruction of Occluded Traffic Participants - A Comparison of Generative Graph Neural Networks
Master's thesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
2022 - M. Raetsch
Approximation of an interaction-aware trajectory prediction method using driver models and iterative single predictions
Bachelor's thesis at the Chair of Control Systems Engineering, Dortmund University of Technology,
2022 - T. Harnisch
Generation of pseudo lidar point clouds from stereo images - A systematic comparison of different quality levels of 3D point clouds of different sensor modalities
Master's thesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
2022 - J. Adamek
Imitation Learning with hard constraints
Master's thesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
2022 - P. Palmer
Environment model augmentation for automated driving using deep generative neural networks
Master's thesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
2021 - T. Sievernich
Offline Reinforcement Learning for Automated Driving
Master's thesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
2021 - S. Schütte
Creation of Lanelet-HD maps using vehicle reference sensors and satellite images
Master's thesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
2021 - S. Neumann:
Interaction-aware trajectory prediction using structured prediction models
Master's thesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
2020 - P. Palmer:
Investigation of the influence of data preprocessing on lane change detection for different architectures of neural networks,
Bachelorthesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
July 2018.
Supervision: M. Krüger, T. Bertram - N. Stannartz:
LIDAR-basedEgo-Localization in high-precision Maps,
Masterthesis am Lehrstuhl für Regelungssystemtechnik der Technischen Universität Dortmund,
April 2018.
Supervision: C. Wissing,M. Krüger,T. Bertram - C. Schüler:
Bildbasierte Erkennung der Straßentopologie zur Erweiterung automatisierter Fahrfunktionen,
Bachelorthesis am Lehrstuhl für Regelungssystemtechnik der Technischen Universität Dortmund,
February 2018.
Supervision: M. Schmidt,M. Krüger,T. Bertram - F. Friedrich:
Development of a trajectory prediction based on a lane change probability for foreign vehicles in highway scenarios,
Bachelorthesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
July 2017.
Supervision: C. Wissing, M. Krüger, T. Bertram - J. Schmitz:
Development of an interactive trajectory prediction based on a potential field approach for foreign vehicles in highway scenarios,
Bachelorthesis at the Chair of Control Systems Engineering at Dortmund University of Technology,
July 2017.
Supervision: C. Wissing,M. Krüger,T. Bertram