Completed Theses

Completed Theses


  • Erzeugen von Routen unter Berücksichtigung der Sonneneinstrahlung
    Wie bereits seit 200 Jahren bekannt ist, leiden Bewohner der nördlichen Breiten überdurchschnittlich häufig unter einem Vitamin D Mangel. Um diesem entgegenzuwirken sollte sich der Mensch dem richtigen Maß an Sonnenstrahlung aussetzen. Für Stadtbewohner ist dieses Ziel während der Arbeitswoche jedoch schwer zu erreichen, da die meiste Zeit des Tages in geschlossenen Räumen verbracht wird. Gelöst werden soll dieses Problem durch ein Routing, welches Fußwege hinsichtlich der Sonneneinstrahlung optimiert. Wichtigste Faktoren sind neben der draußen verbrachten Zeit und der Fläche der von der Sonne bestrahlten Haut die Verschattung durch Gebäude und Vegetation sowie die Orientierung zur Sonne.
    Leaders: Monika Sester, Oskar Wage
    Team: Freya Wittkugel
    Year: 2020
  • Klassifikation von Mobile Mapping LiDAR Punktwolken
    In vielen Anwendungsgebieten der Geodäsie, beispielsweise dem des autonomen Fahrens, gewinnt die automatische Erkennung von Objekten in (urbanen) Regionen an Relevanz. Eingesetzt werden dafür verschiedene Aufnahmesysteme, dessen Daten in Echtzeit analysiert werden müssen. Besonders gut geeignet sind dafür Light Detection and Ranging (LiDAR) Punktwolken. In dieser Arbeit wird die Klassifikation von LiDAR Punktwolken verschiedener Methoden analysiert und bewertet. Als Datengrundlage dienten Scanstreifen aus einer Messkampagne des Instituts für Kartographie und Geoinformatik der Leibniz Universität Hannover. Mit Hilfe der Klassifikatoren Random Forests und Support Vector Machines konnten die einzelnen LiDAR Punkte 16 verschiedenen Klassen zugeordnet werden.
    Leaders: Brenner, Schachtschneider
    Team: Anat Schaper
    Year: 2020
  • Trajectory modeling
    With global navigation satellite systems and their free positioning services, as well as small, low-cost GNSS receivers, it's never been easier to capture and record motion anywhere, anytime. The resulting data volumes can quickly become very large. This makes these records impractical when it comes to storage and evaluation. Approaches to reduce the amount of data while preserving a maximum of spatio-temporal information are required.
    Leaders: Colin Fischer
    Team: Sebastian Leise
    Year: 2016
    Lifespan: 2016


  • Trajectory Analysis at Intersections
    In this thesis, we focus on trajectories at different intersections with various regulated types (traffic-light-controlled, priority/yield- controlled, uncontrolled) and test some methods to detect and recognise movement patterns, in terms of their geometrical and spatio-temporal components. That is, in the first case the geometric paths that vehicles follow while driving through the intersections and in the second case the way that they follow these geometric paths.
    Leaders: Zourlidou
    Team: Chenxi Wang
    Year: 2020
  • Trajectory anomaly detection using spectral clustering and RNN-based auto-encoder
    Anomaly detection is important, because anomalous behavior may indicate critical events or objects within diverse research areas and application domains. One of such domains is transport, especially integrated urban mobility. Trajectories of moving objects are good representations of their behaviors in surveillance data and useful in detecting anomalous behavior. On one hand, trajectories can provide more agent-based, long-term information comparing with simple physical features. On the other hand, comparing with raw video data, which is usually represented as a sequence of images, trajectory data requires less storage space and computational resources. Moreover, it has a wide variety of sources, such as GPS instruments and laser-scanners.
    Leaders: Sester, Koetsier
    Team: Yao Li
    Year: 2020
  • Development of environmentally-balaced and congestion-avoiding routing algorithms by means of traffic simulation
    Due to the constantly growing volume of traffic in urban environments and the resulting problems such as increased air pollution, environmentally oriented approaches to achieve better urban sustainability of transport play an increasingly important role. This thesis deals with the development of environmentally-friendly routing algorithms and their validation in traffic simulations. The routing algorithm used is the A* - algorithm using the developed criteria as weights.
    Leaders: Sester, Fuest
    Team: Christian Hartberger
    Year: 2019
  • Multi-Path Prediction of Mixed Traffic Trajectories in Shared Spaces
    In shared spaces, road signs, signals, and markings are removed to allow mixed traffic directly interact with each other. The traffic engineer Reid defined it as a street encouraging pedestrian movement and reducing the dominance of vehicles without explicit traffic rules. All users have to follow informal social protocols and negotiation to use the road resources, and avoid any potential collisions. The lack of regulations makes interactions between multimodal road users more complex compared with conventional designs. With the availability of large scale datasets and the development of deep learning techniques in sequence modeling and prediction, deep learning approaches are widely used for trajectory prediction.
    Leaders: Hao Cheng, Prof. Sester and Prof. Fidler
    Team: Xinlong Han
    Year: 2019
  • Scene Context-Aware Trajectory Prediction in Shared Space
    In shared spaces, road signs, signals, and markings are removed to allow mixed traffic directly interact with each other. At a micro level, understanding how they behave and how we can foresee their behavior after a short observation time are crucial to intent detection and autonomous driving, and traffic management in shared spaces.
    Leaders: Hao Cheng, Prof. Sester and Prof. Fidler
    Team: Rui Liu
    Year: 2019
  • Residual Learning for Mixed Traffic Prediction in Shared Space
    In recent years, with the increased availability of computational power and large-scale datasets, data--driving approaches, especially Deep Learning approaches, have been largely used for trajectory modeling. Nevertheless, predicting mixed traffic trajectories in shared space is not trivial.
    Leaders: Hao Cheng, Prof. Sester and Prof. Fidler
    Team: Yuhao Zhang
    Year: 2019
  • A Study of State-of-the-Art DL Methods for Mixed Traffic Trajectory Prediction
    In recent years, with the increased availability of computational power and large-scale datasets, data-driving approaches, especially Deep Learning (DL) approaches, have been largely used for trajectory modeling. The performance for pedestrian trajectory prediction in crowded spaces has been improved year by year, such as the state-of-the-art Social-LSTM (Alahi et al., 2016) CVAE (Lee et al., 2017), and Social-GAN (Gupta et al., 2018). The goal of this master thesis is to apply such stat-of-the-art DL approaches in a more challenging environment—shared space—for trajectory prediction with mixed traffic agents and compare their performance.
    Leaders: Hao Cheng, Prof. Sester and Prof. Fidler
    Team: Xin Xu
    Year: 2019
  • Development of a Client-Server Module for Cooperative Multi-Robot Longterm Map Registration
    Nowadays a big amount of robots are used in production and logistic. Due to the large working environment, dynamic objects (e.g. humans or other robots), and semi-static objects (e.g.machine and furniture), a high performance navigation system is required. But only focus on the high performance long term SLAM on single robot is not enough to guarantee the flexible and accurate performance of whole robot fleet in large changing environment.
    Leaders: Tobias Ortmaier (IMES), Claus Brenner, Steffen Busch (IKG), Philipp Schnattinger (FraunhoferIPA)
    Team: Jiang Liwei
    Year: 2019
  • Classification and detection of road users using neural networks and Active Shape models
    Autonomous vehicles interpret their environment based on their sensor data. 360° laser scanners provide comprehensive and highly accurate information about the distance of objects. Predicting the behavior of road users differs between cars, trucks/buses, cyclists and pedestrians. The exact position of the different road users depends on their orientation and geometric dimensions. Active Shape models offer the possibility to estimate the center of objects by estimating deformable models, based on CAD plans and taking into account their orientation.
    Leaders: Bodo Rosenhahn (TNT), Claus Brenner, Steffen Busch (IKG)
    Team: Xiaoyu Jiang
    Year: 2019
  • Laser scanner-based prediction of pedestrian movements by filtering and classifying posture
    Against the background of road safety, an algorithm is presented below that uses point clouds to make the most accurate prediction possible about the future position of pedestrians. A core element is to classify the current state of movement of pedestrians over a random forest. The focus is on early detection of changes between individual states.
    Leaders: Claus Brenner, Steffen Busch
    Team: Matthias Fahrland
    Year: 2019
  • Travel Delay Analysis Using VISSIM and Pattern Recognition at Regulated Junctions
    This thesis explores the travel time and travel delay at T- and four-way junctions under different regulator settings (yield/priority traffic signs and uncontrolled junctions), conducting experiments both with simulation originated and real data. First this thesis uses VISSIM simulation software to estimate the delay and stop time at yield controlled and uncontrolled T- and and Four-way intersections. At the second part of the thesis, the same objective is being pursued by using real data.
    Leaders: Zourlidou
    Team: Qingyuan Wang
    Year: 2019
  • Pattern Recognition of Movement Behavior for Intersection Classification using GPS Trace Data
    The aim of this thesis is to classify different regulator types of traffic road intersections based on GPS trace data. To reach this aim a variety of features is calculated to describe the driving behavior at intersections. These are derived from the measured units of the GPS trace data that compose an individual’s movement trajectory.
    Leaders: Zourlidou
    Team: Jens Golze
    Year: 2019
  • Robust registration of airborne point clouds
    Goal of this thesis is the robust registration of airborne point clouds, which are derived from Airborne Laser Scanning (ALS) and Dense Image Matching (DIM). We implemented a coarse, translative registration method using a Maximum Consensus Estimator and compared our results with a standard ICP. In addition, we tested several methods to prune object points from point clouds, which are represented differently in both point cloud types.
    Leaders: Politz, Brenner
    Team: Jannik Busse
    Year: 2019
  • Optimal assignment of point clouds using deep learning
    The main goal of this master thesis was to register airborne 3D point clouds from different sensor systems. These point clouds are derived from airborne laser scanning (ALS) and dense image matching (DIM) of aerial images. Those point clouds may cover the same surface, but do contain different attributes and characteristics. One major problem when dealing with those two point clouds is vegetation. The laser beam in ALS is able to penetrate vegetation leading to ground and vegetation points in the final point cloud. Since they are derived from aerial images, DIM point clouds only contain the surfaces and thus describes the treetops. This major difference between ALS and DIM causes problems for the registration of point clouds and established algorithms such as the iterative closest points (ICP) algorithm are facing issues when dealing with both point cloud types at the same time, because they assume that similar points are close to each other.
    Leaders: Brenner, Politz
    Team: Stephan Niehaus
    Year: 2019
  • Deep Learning for Flood Relevant Images and Texts from Social Media
    Floods are among Earth's most common and most destructive natural hazards. This work explores the idea of utilizing user-generated information from social media to recognize early signs of flood relevant events. The goal of this work lies in the development and implementation of a Deep Learning solution with the ability to detect the presence of flood relevant events from user-generated images and texts.
    Leaders: Yu Feng, Prof. Brenner
    Team: Sergiy Shebotnov
    Year: 2018
  • Automatische Parametrische Beschreibung von Bodendenkmalen
    Die Untersuchung von Bodendenkmälern liefert wichtige Erkenntnisse zur Entwicklung der Kulturlandschaft in Deutschland. Sie lässt Rückschlüsse über das Leben in vergangenen Epochen und die Veränderung zwischen den Zeitaltern zu. Die Lagebestimmung oder die messtechnische Erfassung der Bodendenkmäler ist nicht immer einfach. Oftmals lassen sich die Objekte schwer erkennen oder befinden sich an schwer zugänglichen Stellen. Airborne Laserscanning eröffnet hierbei eine vergleichsweise neue Methode der archäologischen Prospektion. Aus den erzeugten Laserscannerdaten lassen sich hochauflösende flächendeckende Geländemodelle erzeugen, mit denen auch vorher unentdeckte Bodendenkmäler in Wäldern erkannt werden können. Die auf diese Weise erzeugte Datengrundlage bietet nicht nur neue Möglichkeiten, sondern auch neue Herausforderungen. Durch die hohen Datenmengen stellt sich die Frage nach der Bearbeitungszeit und die damit verbundene hohe Arbeitszeitbelastung. Um diesem Problem zu begegnen, ist es sinnvoll möglichst viele Prozesse zu automatisieren.
    Leaders: Frank Thiemann, Monika Sester
    Team: Dennis Elschen
    Year: 2018
  • Traffic-sign Recognition from Street-level Photos: a Deep Learning Approach
    The scope of this thesis is the recognition of traffic-signs from street-level images. A state-of-the-art deep learning detection algorithm is used, the Single Shot Multi-box detector (SSD) and within the thesis its performance is validated experimentally by examining different training strategies.
    Leaders: Prof. Dr. Bernhard Roth, Co-advisor: Prof. Monika Sester, Supervisor: Stefania Zourlidou
    Team: Qifa Bao
    Year: 2018
    Lifespan: 2018
  • Deep Learning: Deep learning on weather relevant images
    Social media is nowadays an important data source to obtain real time information about the society. As we are now focusing on flooding events, an intelligent interpretation of the user sent photos is helpful for us to find out the occurrence of flooding events and their inundation areas.
    Leaders: Feng
    Year: 2017
  • Automated Calibration of the Camera Orientation of a LiDAR Mobile Mapping System
    The ikg uses a mobile mapping system RIEGL VMX-250 to acquire geo-referenced point clouds and images of the environment. The system includes two laser scanners and four cameras. The coarse camera orientation is estimated by a manual workflow selecting corresponding points in the point cloud and camera images.
    Team: Anita Sadat Khezri
    Year: 2017
    Lifespan: 2017
  • Comparison of Methods for Parking Availability Prediction
    Parking availability prediction is an interesting domain which needs to be explored in order to make the search of a parking place easier, which could in turn save time and energy. Employing pre-existing data (sequential parking data) to develop a model for future prediction is the intent of this thesis. Such a model indirectly reduces the need of static sensors to collect data every five minutes on a daily basis.Different methods, namely, linear regression, Long Short Term Memory-LSTM (a specific recurrent neural network) and Auto regressive integrated moving average (ARIMA) are used in the modeling of data to predict the parking availability.
    Team: Supriya Gurupadaswamy
    Year: 2017
    Lifespan: 2017
  • Extracting Road Network Structure from Heat Maps of GPS Trajectories Using Convolutional Neural Networks
    Road network extraction from GPS trajectories has always been an overemphasized topic for the researches on map improvement. The existence of huge amount of GPS trajectories collected from vehicle movements, cycling and running activities, has encouraged researchers to work on this topic. Besides that, the heat maps (i.e. density maps) of trajectories have been visualized in order to indicate the frequency of use of road segments. With the work represented in this thesis, extraction of road networks from GPS trajectories has been aimed by proposing the use of convolutional neural networks on heat maps.
    Team: Sercan Çakir
    Year: 2017
    Sponsors: DFG Graduiertenkolleg SocialCars
    Lifespan: 2017
  • Gesture-based interaction with virtual 3D environments
    With the availability of increasingly powerful computing technology in the home/leisure sector, a race to develop affordable virtual reality (VR) and augmented reality hardware broke out on the technology market a few years ago, targeting potential markets, in particular, for realistic 3D content presentation (e.g. computer games). The core of this technology is the processing of three-dimensional information in the form of 2D stereo image pairs, which can be consumed via suitable output hardware (glasses/helmets). However, this principle can also be used elsewhere, for example for better exploration of or interaction with 3D spatial data.
    Leaders: Colin Fischer
    Team: Florian Politz
    Year: 2016
    Lifespan: 2016
  • Robust visual navigation for autonomous underwater track vehicles
    Underwater track vehicles, also known as crawler, are universal carrier platforms for many different applications. Crawler having an autonomous navigation would enable the possibility of executing long-term observations without a connection to a base station. This thesis presents approaches that use previous knowledge about the scene that is integrated into motion estimation step by replacing RANSAC with PROSAC to make the motion estimation more robust.
    Leaders: Brenner, Kirchner
    Team: Lewin Probst
    Year: 2015
    Lifespan: 2015
  • Robotic exploration for mapping and change detection
    Autonomous systems and mobile robots become more and more part of our daily life. Examples are cutting the grass in the garden, helping us to get into a parking lot or cleaning the floor. The problems of localization, perception and automatic model building (e.g. maps) are central questions in mobile robotics. How to determine the absolute pose of a robot? What is the best way to explore an a priori unknown environment? Can changes be detected?
    Leaders: Brenner, Paffenholz
    Team: Sebastian Gangl
    Year: 2014
    Lifespan: 2014