Unscented Dual Quaternion Particle Filter for SE(3) Estimation.
Li, K.; Pfaff, F.; Hanebeck, U. D.
2021. IEEE control systems letters, 5 (2), 647–652. doi:10.1109/LCSYS.2020.3005066

Progressive von Mises–Fisher Filtering Using Isotropic Sample Sets for Nonlinear Hyperspherical Estimation.
Li, K.; Pfaff, F.; Hanebeck, U. D.
2021. Sensors. doi:10.3390/s21092991

Estimating Correlated Angles Using the Hypertoroidal Grid Filter.
Pfaff, F.; Li, K.; Hanebeck, U. D.
2020. Proceedings of the 2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2020), Karlsruhe, 14 - 16 September 2020, 101–107, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/MFI49285.2020.9235220

Estimating Uncertainties of Recurrent Neural Networks In Application to Multitarget Tracking.
Pollithy, D.; Reith-Braun, M.; Pfaff, F.; Hanebeck, U. D.
2020. Proceedings of the 2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2020), Karlsruhe, 14 - 16 September 2020, 229–236, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/MFI49285.2020.9235216

Nonlinear von Mises-Fisher Filtering Based on Isotropic Deterministic Sampling.
Li, K.; Pfaff, F.; Hanebeck, U. D.
2020. Proceedings of the 2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2020), Karlsruhe, 14 - 16 September 2020, 108–113, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/MFI49285.2020.9235260

A Hyperhemispherical Grid Filter for Orientation Estimation.
Pfaff, F.; Li, K.; Hanebeck, U. D.
2020. Proceedings of 2020 23rd International Conference on Information Fusion (FUSION 2020) : 2020 23rd International Conference on Information Fusion (FUSION 2020) took place 6-9 July 2020 as a virtual conference, Pretoria, South Africa, 8 S., Institute of Electrical and Electronics Engineers (IEEE). doi:10.23919/FUSION45008.2020.9190611

A Hyperhemispherical Grid Filterfor Orientation Estimation.
Pfaff, F.; Li, K.; Hanebeck, U. D.
2020. Proceedings of the 23rd International Conference on Information Fusion (Fusion 2020)

Dual Quaternion Sample Reduction for SE(2) Estimation.
Li, K.; Pfaff, F.; Hanebeck, U. D.
2020. Proceedings of 2020 23rd International Conference on Information Fusion (FUSION 2020) : 2020 23rd International Conference on Information Fusion (FUSION 2020) took place 6-9 July 2020 as a virtual conference, Pretoria, South Africa, 8 S., Institute of Electrical and Electronics Engineers (IEEE). doi:10.23919/FUSION45008.2020.9190388

Hyperspherical Unscented Particle Filter for Nonlinear Orientation Estimation.
Li, K.; Pfaff, F.; Hanebeck, U. D.
2020. Proceedings of the 1st Virtual IFAC World Congress (IFAC-V 2020)

The Spherical Grid Filter for Nonlinear Estimation on the Unit Sphere.
Pfaff, F.; Li, K.; Hanebeck, U. D.
2020. Proceedings of the 1st Virtual IFAC World Congress (IFAC-V 2020)

Sensor-based sorting (Editorial).
Pfaff, F.; Hanebeck, U. D.
2020. Automatisierungstechnik, 68 (4, SI), 229–230. doi:10.1515/auto-2020-0023

Grid-Based Quaternion Filter for SO(3) Estimation.
Li, K.; Pfaff, F.; Hanebeck, U. D.
2020. Proceedings of the 2020 European Control Conference (ECC 2020)

Experimental Evaluation of a Novel Sensor-Based Sorting Approach Featuring Predictive Real-Time Multiobject Tracking.
Maier, G.; Pfaff, F.; Pieper, C.; Gruna, R.; Noack, B.; Kruggel-Emden, H.; Längle, T.; Hanebeck, U. D.; Beyerer, J.
2020. IEEE transactions on industrial electronics. doi:10.1109/TIE.2020.2970643

Predictive tracking with improved motion models for optical belt sorting.
Pfaff, F.; Pieper, C.; Maier, G.; Noack, B.; Gruna, R.; Kruggel-Emden, H.; Hanebeck, U. D.; Wirtz, S.; Scherer, V.; Längle, T.; Beyerer, J.
2020. Automatisierungstechnik, 68 (4), 239–255. doi:10.1515/auto-2019-0134

Characterizing material flow in sensor-based sorting systems using an instrumented particle.
Maier, G.; Pfaff, F.; Bittner, A.; Gruna, R.; Noack, B.; Kruggel-Emden, H.; Hanebeck, U. D.; Längle, T.; Beyerer, J.
2020. Automatisierungstechnik, 68 (4, SI), 256–264. doi:10.1515/auto-2019-0128

Real-time multitarget tracking for sensor-based sorting – A new implementation of the auction algorithm for graphics processing units.
Maier, G.; Pfaff, F.; Wagner, M.; Pieper, C.; Gruna, R.; Noack, B.; Kruggel-Emden, H.; Längle, T.; Hanebeck, U. D.; Wirtz, S.; Scherer, V.; Beyerer, J.
2019. Journal of real-time image processing, 16 (6), 2261–2272. doi:10.1007/s11554-017-0735-y

Feature-Aided Multitarget Tracking for Optical Belt Sorters.
Kronauer, T.; Pfaff, F.; Noack, B.; Tian, W.; Maier, G.; Hanebeck, U. D.
2019. Proceedings of the 22nd International Conference on Information Fusion (Fusion 2019), Article no: 9011447, Institute of Electrical and Electronics Engineers (IEEE)

Fourier Filters, Grid Filters, and the Fourier-Interpreted Grid Filter.
Pfaff, F.; Li, K.; Hanebeck, U. D.
2019. Proceedings of the 22nd International Conference on Information Fusion (Fusion 2019), Article no: 9011318, Institute of Electrical and Electronics Engineers (IEEE)

Hyperspherical Deterministic Sampling Based on Riemannian Geometry for Improved Nonlinear Bingham Filtering.
Li, K.; Pfaff, F.; Hanebeck, U. D.
2019. FUSION 2019 : 22nd International Conference on Information Fusion : Ottawa, Canada, July 2-5, 2019, Art.Nr.: 9011390, Institute of Electrical and Electronics Engineers (IEEE)

Association likelihoods for directional estimation.
Pfaff, F.; Li, K.; Hanebeck, U. D.
2019. 2019 IEEE International Conference on Industrial Cyber Physical Systems, ICPS 2019; Howards Plaza HotelTaipei; Taiwan; 6 May 2019 through 9 May 2019, 211–217, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICPHYS.2019.8780240

Geometry-driven stochastic modeling of SE(3) states based on dual quaternion representation.
Li, K.; Pfaff, F.; Hanebeck, U. D.
2019. 2019 IEEE International Conference on Industrial Cyber Physical Systems, ICPS 2019; Howards Plaza HotelTaipei; Taiwan; 6 May 2019 through 9 May 2019, 254–260, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICPHYS.2019.8780254

Directional statistics and filtering using libDirectional.
Kurz, G.; Gilitschenski, I.; Pfaff, F.; Drude, L.; Hanebeck, U. D.; Haeb-Umbach, R.; Siegwart, R. Y.
2019. Journal of statistical software, 89 (4). doi:10.18637/jss.v089.i04

Multitarget Tracking Using Orientation Estimation for Optical Belt Sorting. PhD dissertation.
Pfaff, F.
2019. KIT Scientific Publishing. doi:10.5445/KSP/1000094502

Motion-based material characterization in sensor-based sorting.
Maier, G.; Pfaff, F.; Becker, F.; Pieper, C.; Gruna, R.; Noack, B.; Kruggel-Emden, H.; Längle, T.; Hanebeck, U. D.; Wirtz, S.; Scherer, V.; Beyerer, J.
2018. Technisches Messen, 85 (3), 202–210. doi:10.1515/teme-2017-0063

Application of Discrete Recursive Bayesian Estimation on Intervals and the Unit Circle to Filtering on SE(2).
Kurz, G.; Pfaff, F.; Hanebeck, U. D.
2018. IEEE transactions on industrial informatics, 14 (3), 1197–1206. doi:10.1109/TII.2017.2757011

Application of Area-Scan Sensors in Sensor-Based Sorting.
Maier, G.; Pfaff, F.; Pieper, C.; Gruna, R.; Noack, B.; Kruggel-Emden, H.; Längle, T.; Hanebeck, U. D.; Wirtz, S.; Scherer, V.; Beyerer, J.
2018. 8th Sensor-Based Sorting & Control, SBSC 2018 : Aachen, 6-7 March 2018. Ed.: T. Pretz, 73–82, Shaker Verlag

Numerical modelling of an optical belt sorter using a DEM–CFD approach coupled with particle tracking and comparison with experiments.
Pieper, C.; Pfaff, F.; Maier, G.; Kruggel-Emden, H.; Wirtz, S.; Noack, B.; Gruna, R.; Scherer, V.; Hanebeck, U. D.; Längle, T.; Beyerer, J.
2018. Powder technology, 340, 181–193. doi:10.1016/j.powtec.2018.09.003

Directional Statistics and Filtering Using libDirectional.
Kurz, G.; Gilitschenski, I.; Pfaff, F.; Drude, L.; Hanebeck, U. D.; Haeb-Umbach, R.; Siegwart, R. Y.
2017

Improving material characterization in sensor-based sorting by utilizing motion information.
Maier, G.; Pfaff, F.; Becker, F.; Pieper, C.; Gruna, R.; Noack, B.; Kruggel-Emden, H.; Längle, T.; Hanebeck, U. D.; Wirtz, S.; Scherer, V.; Beyerer, J.
2017. OCM 2017 - Optical Characterization of Materials - conference proceedings. Hrsg.: J. Beyerer; F. Puente León; T. Längle, 109–119, KIT Scientific Publishing. doi:10.5445/IR/1000082558

Improving multitarget tracking using orientation estimates for sorting bulk materials.
Pfaff, F.; Kurz, G.; Pieper, C.; Maier, G.; Noack, B.; Kruggel-Emden, H.; Gruna, R.; Hanebeck, U. D.; Wirtz, S.; Scherer, V.; Langle, T.; Beyerer, J.
2017. Proceedings of the International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2017, Daegu, South Korea, 16th - 18th November 2017, 553–558, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/MFI.2017.8170379

Discretization of SO(3) using recursive tesseract subdivision.
Kurz, G.; Pfaff, F.; Hanebeck, U. D.
2017. Proceedings of the International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2017, Daegu, South Korea, 16th - 18th November 2017, 49–55, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/MFI.2017.8170406

Filtering on the unit sphere using spherical harmonics.
Pfaff, F.; Kurz, G.; Hanebeck, U. D.
2017. Proceedings of the International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2017, Daegu, South Korea, 16th - 18th November 2017, 124–130, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/MFI.2017.8170417

Numerical modelling of the separation of complex shaped particles in an optical belt sorter using a dem-cfd approach and comparison with experiments.
Pieper, C.; Wirtz, S.; Scherer, V.; Maier, G.; Gruna, R.; Langle, T.; Beyerer, J.; Pfaff, F.; Noack, B.; Hanebeck, U. D.; Kruggel-Emden, H.
2017. 5th International Conference on Particle-Based Methods - Fundamentals and Applications, PARTICLES 2017, Hannover, Germany, 26th - 28th September 2017, 373–384, International Center for Numerical Methods in Engineering

Information form distributed Kalman filtering (IDKF) with explicit inputs.
Pfaff, F.; Noack, B.; Hanebeck, U. D.; Govaers, F.; Koch, W.
2017. 20th International Conference on Information Fusion, Fusion 2017; Xi’an; China; 10 July 2017 through 13 July 2017, Art. Nr.: 8009724, Institute of Electrical and Electronics Engineers (IEEE). doi:10.23919/ICIF.2017.8009724

Optimal distributed combined stochastic and set-membership state estimation.
Pfaff, F.; Noack, B.; Hanebeck, U. D.
2017. 20th International Conference on Information Fusion, Fusion 2017; Xi’an; China; 10 July 2017 through 13 July 2017, Art. Nr.: 8009723, Institute of Electrical and Electronics Engineers (IEEE). doi:10.23919/ICIF.2017.8009723

Nonlinear toroidal filtering based on bivariate wrapped normal distributions.
Kurz, G.; Pfaff, F.; Hanebeck, U. D.
2017. 20th International Conference on Information Fusion, Fusion 2017; Xi’an; China; 10 July 2017 through 13 July 2017, Art. Nr.: 8009831, Institute of Electrical and Electronics Engineers (IEEE). doi:10.23919/ICIF.2017.8009831

Real-time motion prediction using the chromatic offset of line scan cameras.
Pfaff, F.; Maier, G.; Aristov, M.; Noack, B.; Gruna, R.; Hanebeck, U. D.; Längle, T.; Beyerer, J.; Pieper, C.; Kruggel-Emden, H.; Wirtz, S.; Scherer, V.
2017. Automatisierungstechnik, 65 (6), 369–380. doi:10.1515/auto-2017-0009

Numerical investigation of optical sorting using the discrete element method.
Pieper, C.; Kruggel-Emden, H.; Wirtz, S.; Scherer, V.; Pfaff, F.; Noack, B.; Hanebeck, U. D.; Maier, G.; Gruna, R.; Längle, T.; Beyerer, J.
2017. 7th International Conference on Discrete Element Methods, DEM7 2016, Dalian, China, 2016, 1 - 4 August, 1105–1113, Springer. doi:10.1007/978-981-10-1926-5_115

Multivariate angular filtering using fourier series.
Pfaff, F.; Kurz, G.; Hanebeck, U. D.
2016. Journal of Advances in Information Fusion, 11 (2), 206–226

Fast multitarget tracking via strategy switching for sensor-based sorting.
Maier, G.; Pfaff, F.; Pieper, C.; Gruna, R.; Noack, B.; Kruggel-Emden, H.; Langle, T.; Hanebeck, U. D.; Wirtz, S.; Scherer, V.; Beyerer, J.
2016. 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), Baden-Baden, Germany, 19–21 September 2016, 505–510, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/MFI.2016.7849538

Real-time whole-body human motion tracking based on unlabeled markers.
Steinbring, J.; Mandery, C.; Pfaff, F.; Faion, F.; Asfour, T.; Hanebeck, U. D.
2016. 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), Baden-Baden, Germany, 19–21 September 2016, 583–590, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/MFI.2016.7849550

Discrete recursive Bayesian filtering on intervals and the unit circle.
Kurz, G.; Pfaff, F.; Hanebeck, U. D.
2016. 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), Baden-Baden, Germany, 19–21 September 2016, 442–448, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/MFI.2016.7849528

Simulation-based evaluation of predictive tracking for sorting bulk materials.
Pfaff, F.; Pieper, C.; Maier, G.; Noack, B.; Kruggel-Emden, H.; Gruna, R.; Hanebeck, U. D.; Wirtz, S.; Scherer, V.; Langle, T.; Beyerer, J.
2016. 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), Baden-Baden, Germany, 19–21 September 2016, 511–516, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/MFI.2016.7849539

Improving optical sorting of bulk materials using sophisticated motion models.
Pfaff, F.; Pieper, C.; Maier, G.; Noack, B.; Kruggel-Emden, H.; Gruna, R.; Hanebeck, U. D.; Wirtz, S.; Scherer, V.; Längle, T.; Beyerer, J.
2016. Technisches Messen, 83 (2), 77–84. doi:10.1515/teme-2015-0108

State estimation considering negative information with switching Kalman and ellipsoidal filtering.
Noack, B.; Pfaff, F.; Baum, M.; Hanebeck, U. D.
2016. 19th International Conference on Information Fusion (FUSION), Heidelberg, Germany, 5-8 July 2016, 1945–1952, Institute of Electrical and Electronics Engineers (IEEE)

Nonlinear prediction for circular filtering using Fourier series.
Pfaff, F.; Kurz, G.; Hanebeck, U. D.
2016. 19th International Conference on Information Fusion (FUSION), Heidelberg, Germany, 5-8 July 2016, 1821–1828, Institute of Electrical and Electronics Engineers (IEEE)

Kullback–Leibler Divergence and Moment Matching for Hyperspherical Probability Distributions.
Pfaff, F.; Hanebeck, U. D.; Kurz, G.
2016. 19th International Conference on Information Fusion (FUSION), Heidelberg, Germany, July 5-8, 2016, 1–8, Institute of Electrical and Electronics Engineers (IEEE)

Numerical modeling of an automated optical belt sorter using the Discrete Element Method.
Pieper, C.; Maier, G.; Pfaff, F.; Kruggel-Emden, H.; Wirtz, S.; Gruna, R.; Noack, B.; Scherer, V.; Längle, T.; Beyerer, J.; Hanebeck, U. D.
2016. Powder technology, 301, 805–814. doi:10.1016/j.powtec.2016.07.018

TrackSort: Predictive Tracking for Sorting Uncooperative Bulk Materials.
Pfaff, F.; Baum, M.; Noack, B.; Hanebeck, U. D.; Gruna, R.; Längle, T.; Beyerer, J.
2015. Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2015), 14-16 Sept. 2015, San Diego, CA, USA, 7–12, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/MFI.2015.7295737

Multimodal Circular Filtering Using Fourier Series.
Pfaff, F.; Kurz, G.; Hanebeck, U. D.
2015. Proceedings of the 18th International Conference on Information Fusion (Fusion 2015), 6-9 July 2015, Washington, DC, USA, 711–718, Institute of Electrical and Electronics Engineers (IEEE)

Data Validation in the Presence of Stochastic and Set-membership Uncertainties.
Pfaff, F.; Noack, B.; Hanebeck, U. D.
2013. 16th International Conference on Information Fusion (FUSION’13), Istanbul, Turkey, July 9-12, 2013, 2125–2132, Institute of Electrical and Electronics Engineers (IEEE)

Optimal Kalman Gains for Combined Stochastic and Set-Membership State Estimation.
Noack, B.; Pfaff, F.; Hanebeck, U. D.
2012. Proceedings of the 51st IEEE Conference on Decision and Control (CDC 2012), Maui, Hawaii, USA, December, 2012, 4035–4040, IEEE Computer Society. doi:10.1109/CDC.2012.6426132

Combined Stochastic and Set-membership Information Filtering in Multisensor Systems.
Noack, B.; Pfaff, F.; Hanebeck, U. D.
2012. Proceedings of the 15th International Conference on Information Fusion (Fusion 2012), Singapore, 9-12 July 2012, 1218–1224, Institute of Electrical and Electronics Engineers (IEEE)

The Plenhaptic Guidance Function for Intuitive Navigation in Extended Range Telepresence Scenarios.
Perez Arias, A.; Eberhardt, H. P.; Pfaff, F.; Hanebeck, U. D.
2011. Proceedings of the IEEE World Haptics Conference (WHC 2011), Istanbul, Turkey, 21-24 June 2011, 475–480, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/WHC.2011.5945532