Consistency of Gaussian Process Regression in Metric Spaces.
Koepernik, P.; Pfaff, F.
2021. Journal of Machine Learning Research, 22 (244), 1–27

Modelling And Visualizing Knowledge On The Reference System And Varations Based On The Model Of PGE – Product Generation Engineering For Decision Support.
Pfaff, F.; Rapp, S.; Albers, A.
2021. Proceedings of the Design Society, 1, 2167–2176. doi:10.1017/pds.2021.478

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

Conditional Densities and Likelihoods for Hypertoroidal Densities Based on Trigonometric Polynomials.
Pfaff, F.; Li, K.; Hanebeck, U. D.
2021. Proceedings of the 2021 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2021)

Mixture of Experts of Neural Networks and Kalman Filters for Optical Belt Sorting.
Thumm, J.; Reith-Braun, M.; Pfaff, F.; Hanebeck, U. D.; Flitter, M.; Maier, G.; Gruna, R.; Langle, T.; Bauer, A.; Kruggel-Emden, H.
2021. IEEE Transactions on Industrial Informatics. doi:10.1109/TII.2021.3114282

The State Space Subdivision Filter for Estimation on SE(2).
Pfaff, F.; Li, K.; Hanebeck, U. D.
2021. Sensors, 21 (18), Artikel-Nr.: 6314. doi:10.3390/s21186314

Virtual-Reality-Umgebung für die Visualisierung von Entwicklungszielgrößen auf Basis des Referenzsystems im Modell der PGE – Produktgenerationsentwicklung.
Pfaff, F.; Rapp, S.; Albers, A.
2021. EEE 2021 - Entwerfen Entwickeln Erleben in Produktentwicklung und Design 2021. Hrsg.: R. Stelzer, 175–187, TUDpress. doi:10.25368/2021.20

Characterizing Product Development Processes in Start-ups – an Empirical Study.
Pfaff, F.; Kubisch, J.; Rapp, S.; Albers, A.
2021. Proceedings of the XXXII ISPIM Innovation Conference, Berlin, Germany, 20-23 June 2021 (Online). "Innovating our Common Future"

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 Centre for Numerical Methods in Engineering (CIMNE)

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