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Michael Lorenz won a best Paper award

We are glad to announce that our colleague Michael Lorenz won a best Paper award for his work On Motions artifacts arising when integrating inertial sensors into loose clothing such as a working jacket.


  • Inertial human motion capture (IHMC) has become a robust tool to estimate human kinematics in the wild such as industrial facilities.
  • In contrast to optical motion capture, where occlusions might take place, the kinematics of a worker can be continuously provided.
  • This is for instance a prerequisite for an ergonomic assessments of the workers.
  • State-of-the-art IHMC solutions require inertial sensors to be tightly attached to body segments.
  • This requires an additional setup time and lowers the practicability and ease of use when it comes to an industrial application.
  • In contrast, sensors integrated into loose clothing such as a working jacket, may yield corrupted kinematics estimates due to the additional motion of loose clothing.
  • In this work we present a study of orientations deviations obtained from kinematics estimates using tightly attached inertial sensors and into a working jacket integrated ones.
  • We performed a quantitative analysis using data from the two hardware setups worn by 19 subjects performing different industry related tasks and measures of their body shapes.
  • Using this data we approximated probability distributions of the deviation angles for each person and body segment.
  • Applying different statistical measures we could gain insights to questions like, how severe orientation deviations are, if there is an influence of body shapes on the distribution and how probability distributions of the deviation angles can indicate physical motion limitations of a sensor attached to a segment.
3rd place in Scan-to-BIM challenge (CV4_AEC Workshop, CVPR 2023) for HumanTech project team

The team of the EU Horizon Project HumanTech , consisting of Mahdi Chamseddine and Dr. Jason Rambach from DFKI Augmented Vision as well as Fabian Kaufmann from RPTU Kaiserslautern – department of Civil Engineering, received the 3rd place prize in the Scan-to-BIM challenge of the (Computer Vision in the Built Environment) CV4_AEC Workshop of the CVPR 2023 conference.

On the 18.6, the team presented their solution and results as part of the workshop program. Scan-to-BIM solutions are of great importance for the construction community as they automate the generation of as-built models of buildings from 3D scans, and can be used for quality monitoring, robotic task planning and XR visualization, among other applications.

HumanTech project:

CV4AEC Workshop page:

Contact: Dr. Jason Rambach , Mahdi Chamseddine

Special Issue on the IEEE ARSO 2023 Conference: Human Factors in Construction Robotics

Dr. Jason Rambach, coordinator of the EU Horizon Project HumanTech co-organized a special session on “Human Factors in Construction Robotics” at the IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO 2023) in Berlin, Germany (5.6-7.6). The organization of the special session was done by Jason Rambach, Gabor Sziebig, Research Manager at SINTEF, and Mihoko Niitsuma, Professor at Chuo University.

The program of the special session included the following talks:

  • Serena Ivaldi (INRIA) – Teleoperating a robot for removing asbestos tiles on roofs: Insights from a pilot study
  • Jason Rambach (DFKI) – Machine perception for human-robot handover scenarios in construction
  • Patricia Helen Rosen (BAUA) – Design recommendations for construction robots – a human-centred perspective
  • Dimitrios Giakoumis (CERTH ITI) – Designing human-robot interaction interfaces for shotcrete construction robots; the RobetArme project case

HumanTech project:

Contact: Dr. Jason Rambach

Paper accepted at the ICRA conference

We are happy to announce that our paper titled

Structure PLP-SLAM: Efficient Sparse Mapping and Localization using Point, Line and Plane for Monocular, RGB-D and Stereo CamerasFangwen Shu, Jiaxuan Wang, Alain Pagani, Didier Stricker

has been accepted at the IEEE International Conference on Robotics and Automation (ICRA) 2023.

In this paper, we present a visual SLAM system that uses both points and lines for robust camera localization, and
simultaneously performs a piece-wise planar reconstruction (PPR) of the environment to provide a structural map in
real-time. Our proposed SLAM tightly incorporates the semantic and geometric features to boost both frontend pose tracking and backend map optimization.

The ICRA conference takes place this year in London, from May 29th to June 2nd.

Contact: Dr. Alain Pagani

Workshop on AI and Robotics in Construction at ERF 2023

Dr. Jason Rambach, coordinator of the EU Horizon Project HumanTech co-organized a workshop on “AI and Robotics in Construction” at the European Robotics Forum 2023 in Odense, Denmark (March 14th to 16th, 2023) in cooperation with the construction Robotics projects Beeyonders and RobetArme.

From the project HumanTech, Jason Rambach presented an overview of the project objectives as well as insights into the results achieved by Month 9 of the project. Patrick Roth from the partner Implenia, presented the perspective and challenges of the construction industry on the use of Robotics and AI in construction sites, while the project partners Dr. Bharath Sankaran (Naska.AI) and Dr. Gabor Sziebig (SINTEF) participated in a panel session discussing the future of Robotics in construction.

Workshop schedule:

HumanTech project:                                                              

Contact: Dr. Jason Rambach

Dr. Jason Rambach giving his presentation.
Start of the EU project ExtremeXP

The kick-off meeting for the EU project ExtremeXP was held on January 26th and 27th, 2023, in the city of Athens, Greece.

The vision of ExtremeXP “EXPerimentation driven and user eXPerience-oriented analytics for eXtremely Precise outcomes and decisions” is to provide accurate, precise, fit-for-purpose, and trustworthy data-driven insights via evaluating different complex analytics variants, considering end users’ preferences and feedback in an automated way.

Dr. Alain Pagani enlightened the audience on the capabilities of the Augmented Vision department, highlighting the expertise and key strengths it brings to the table in the realm of Augmented Reality and Explainability.

ExtremeXP will provide:

  • Specification and semantics for modelling complex user-experience-driven analytics.
  • Automated and scalable data management for complex analytics workflow.
  • Scenario-driven and opportunistic machine learning to design and develop AutoML mechanisms for performing scenario-based algorithm and model selection considering on-demand user-provided constraints (performance, resources, time, model options).
  • User-experience- and experiment-driven optimization of complex analytics to design the architecture of the framework for experiment-driven optimisation of complex analytics.
  • Transparent decision making with interactive visualisation methods to explore how augmented reality, visual analytics, and other visualisation techniques and their combinations can enhance user experience for different use cases, actors, domains, applications, and problem areas
  • Extreme data access control and knowledge management
  • Test and validation framework and application on different impactful real-life use cases to incorporate the ExtremeXP tools, methods, models, and software into a scalable, usable, and interoperable integrated framework for complex experiment-driven analytics

The project consortium consists of 20 partners, which are:

  1. Athena Research Center (coordinator) [Greece]
  2. Activeeon [France]
  3. Airbus Defense and Spaces SLC [France]
  4. BitSparkles [France]
  5. Bournemouth University [United Kingdom]
  6. CS-Group [France]
  7. Charles University of Prague [Czech Republic]
  8. Deutsches Forschungszentrum für Künstliche Intelligenz [Germany]
  9. Fundacio Privada I2cat, Internet I Innovacio Digital A Catalunya [Spain]
  10. Institute of Communications and Computer Systems [Greece]
  11. IDEKO [Spain]
  12. INTERACTIVE4D [France]
  14. IThinkUPC [Spain]
  15. MOBY X [Cyprus]
  16. SINTEF [Norway]
  17. Technical University of Delft [Netherlands]
  18. University of Ljubljana [Slovenia]
  19. Universitat Politècnica De Catalunya [Spain]
  20. Vrije Universiteit Amsterdam [Netherlands]

Contact persons:

Mohamed Selim

Dr. Alain Pagani

Nareg Minaskan Karabid

Article in IEEE Robotics and Automation Letter (RA-L) journal

We are happy to announce that our article “OPA-3D: Occlusion-Aware Pixel-Wise Aggregation for Monocular 3D Object Detection” was published in the prestigious IEEE Robotics and Automation Letters (RA-L) Journal. The work is a collaboration of DFKI with the TU Munich and Google. The article is openly accessible at:                                                                      

Abstract: Monocular 3D object detection has recently made a significant leap forward thanks to the use of pre-trained depth estimators for pseudo-LiDAR recovery. Yet, such two-stage methods typically suffer from overfitting and are incapable of explicitly encapsulating the geometric relation between depth and object bounding box. To overcome this limitation, we instead propose to jointly estimate dense scene depth with depth-bounding box residuals and object bounding boxes, allowing a two-stream detection of 3D objects that harnesses both geometry and context information. Thereby, the geometry stream combines visible depth and depth-bounding box residuals to recover the object bounding box via explicit occlusion-aware optimization. In addition, a bounding box based geometry projection scheme is employed in an effort to enhance distance perception. The second stream, named as the Context Stream, directly regresses 3D object location and size. This novel two-stream representation enables us to enforce cross-stream consistency terms, which aligns the outputs of both streams, and further improves the overall performance. Extensive experiments on the public benchmark demonstrate that OPA-3D outperforms state-of-the-art methods on the main Car category, whilst keeping a real-time inference speed.

Yongzhi Su, Yan Di, Guangyao Zhai, Fabian Manhardt, Jason Rambach, Benjamin Busam, Didier Stricker and Federico Tombari “OPA-3D: Occlusion-Aware Pixel-Wise Aggregation for Monocular 3D Object Detection.IEEE Robotics and Automation Letters (2023).

Contacts: Yongzhi Su, Dr. Jason Rambach

Radar Driving Activity Dataset (RaDA) Released

DFKI Augmented Vision recently released the first publicly available UWB Radar Driving Activity Dataset (RaDA), consisting of over 10k data samples from 10 different participants annotated with 6 driving activities. The dataset was recorded in the DFKI driving simulator environment. For more information and to download the dataset please check the project website:

The dataset release is accompanied by an article publication at the Sensors journal:

Brishtel, Iuliia, Stephan Krauss, Mahdi Chamseddine, Jason Raphael Rambach, and Didier Stricker. “Driving Activity Recognition Using UWB Radar and Deep Neural Networks.” Sensors 23, no. 2 (2023): 818.

Contacts: Dr. Jason Rambach, Iuliia Brishtel

Two new PhDs

On Thursday, October 27th, 2022, Mohamed Selim successfully defended his PhD thesis entitled “Deep Learning-based Head Orientation and Gender Estimation from Face Image” in front of the the PhD committee consisting of Prof. Dr. Didier Stricker (TU Kaiserslautern), Prof. Dr. Karsten Berns (TU Kaiserslautern), and Prof Dr. Stefan Deßloch (TU Kaiserslautern).

In the thesis, Mohamed Selim studied the problem of gender and head orientation estimation from face images. Machine-based perception can be of great benefit in extracting that underlying information in face images if the problem is properly modeled. In his thesis, novel solutions are provided to the problems of head orientation estimation and gender prediction. Moreover, the effect of facial appearance changes due to head orientation variation has been investigated on gender prediction accuracy. A novel orientation-guided feature maps recalibration method is presented, that significantly increased the accuracy of gender prediction.

Mohamed Selim received his bachelor and master’s degrees in Computer Science and Engineering from the German University in Cairo, Egypt. He joined the Augmented Vision department in October 2012, as a PhD candidate, and later in March 2018 as a researcher working on industrial and EU research projects. His research interests include computer vision, 3D reconstruction, and deep learning.

Mr. Selim after his successful PhD defense

A week later, on Friday, November 4th, 2022, MSc. Ing. Hammad Tanveer Butt also successfully defended his PhD thesis entitled “Improved Sensor Fusion and Deep Learning of 3D Human Pose From Sparse Magnetic Inertial Measurement Units” in front of the PhD committee consisting of Prof. Dr. Didier Stricker (TU Kaiserslautern and DFKI), Prof. Dr. Imran Shafi (National University of Sciences and Technology, Pakistan) and Prof. Dr. Jörg Dörr (TU Kaiserslautern and IESE Fraunhofer).

The goal of the thesis was to obtain a magnetometer robust 3D human body pose from sparse magnetic inertial motion sensors with uncertainty prediction employing Bayesian Deep learning. To this end, a systematic approach was adopted to address all the challenges of inertial motion capture in an end to end manner. First, simultaneous calibration of multiple magnetic inertial sensors was achieved with error mitigation and residual uncertainty learning. Then a magnetometer robust sensor fusion algorithm for 3D orientation was proposed. Adaptive anatomical error correction was used to reduce long term drift in the joint angles.

Also joint angle constraints were learned using a data driven approach while employing swing-twist formulation for 3D joint rotations. Finally, the thesis showed that Bayesian deep learning framework can be used to learn 3D human pose from sparse magnetic inertial sensors while also predicting the uncertainty of pose estimation which is well correlated with actual error and lack of information, particularly when the yaw angle derived from magnetometer is not used. The thesis led to two peer-reviewed contributions in IEEE Access Journal, as well as a best scientific paper award in IntelliSys-2019 Conference held at UK. The conference paper on swing-twist learning of joint constraints presented in Machine Vision Applications (MVA)-2019, Tokyo Japan was later invited by the reviewing committee amongst top-candidates to be published as a journal paper (extended version). A conference paper and a poster by the author were also accepted at FUSION-2019 Conference held at Ottawa, Canada.

MSc. Ing. Hammad Tanveer Butt received his Bachelors in Avionics (1999) and Master degree in Electrical Engineering (2013) from National University of Sciences and Technology (NUST) Pakistan, respectively. From 2016-2021, he worked at the Augmented Vision (AV) group DFKI as a researcher, while pursuing his PhD. His research interests include nano-electronics, MEMS sensors, deep learning/AI and quantum machine learning.

Start of the CORTEX² project

The kick-off meeting of the CORTEX² project has been held at DFKI in Kaiserslautern on September 20th, 2022.

Participants at the kick-off meeting in Kaiserslautern

The mission of CORTEX² “COoperative Real-Time EXperiences with EXtended reality” is to democratize access to the remote collaboration offered by next-generation XR experiences across a wide range of industries and SMEs.

CORTEX2 will provide:

  • Full support for AR experience as an extension of video conferencing systems when using heterogeneous service end devices through a novel Mediation Gateway platform.
  • Resource-efficient teleconferencing tools through innovative transmission methods and automatic summarization of shared long documents.
  • Easy-to-use and powerful XR experiences with instant 3D reconstruction of environments and objects, and simplified use of natural gestures in collaborative meetings.
  • Fusion of vision and audio for multichannel semantic interpretation and enhanced tools such as virtual conversational agents and automatic meeting summarization.
  • Full integration of internet of things (IoT) devices into XR experiences to optimize interaction with running systems and processes.
  • Optimal extension possibilities and broad adoption by delivering the core system with open APIs and launching open calls to enable further technical extensions, more comprehensive use cases, and deeper evaluation and assessment.

Partners of the project are:

  • DFKI – Deutsches Forschungszentrum für Künstliche Intelligenz GmbH Germany
  • LINAGORA – France
  • ALE – Alcatel-Lucent Entreprise International France
  • ICOM – Intracom SA Telecom Solutions Greece
  • AUS – AUSTRALO Alpha Lab MTÜ Estonia
  • F6S – F6S Network Limited Ireland
  • KUL– Katholieke Universiteit Leuven Belgium
  • CEA – Commissariat à l’énergie atomique et aux énergies alternatives France
  • ACT – Actimage GmbH Germany
  • UJI – Universitat Jaume I De Castellon

In addition to the project activities, CORTEX² will invest a total of 4 million Euros in two open calls, which will be aimed at recruiting tech startups/SMEs to co-develop CORTEX2; engaging new use-cases from different domains to demonstrate CORTEX2 replication through specific integration paths; assessing and validating the social impact associated with XR technology adoption in internal and external use cases.

Contact: Dr. Alain Pagani (Coordinator)