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Papers and other Publications
A list of published papers and posters and a download link if available.
2026
- Nichting, M., Lobig, T., Ritter, C.-N., Steinke, N., Sundermann, S., Goehring, D., Pfeiffer, J., Hark, J. N., Radusch, I., Kouril., J., Schahn, C., Schaeufele, B.: Cooperative Maneuver Coordination for Prioritization of Public Transport and Emergency Vehicles, In: 12. Conference on Vehicle Technology and Intelligent Transport Systems (VEHITS), Benidorm, Spain, 2026.
- Yao, Y., Bouzidi, M.-K., Goehring, D., Reichardt, J.: EP-Diffuser: An Efficient Diffusion Model for Traffic Scene Generation and Prediction via Polynomial Representations, accepted at IEEE International Conference on Robotics and Automation (ICRA), Vienna, Austria, 2026, [preprint arxiv.org pdf].
- Timoneda, X., Herb, M., Duerr, F., Goehring, D.: SelfOccFlow: Towards end-to-end self-supervised 3D Occupancy Flow prediction, accepted at IEEE Robotics Automation Letters, 2026.
- Wullrich, S., Steinke, N., Goehring, D.: Deep Neural Network Based Roadwork Detection for Autonomous Driving, In: 8th International Workshop on Pervasive Computing for Vehicular Systems, in conunction with IEEE International Conference on Pervasive Computing and Communications (PerCom), Pisa, Italy, 2026, [Best Workshop Paper Award] [pdf] [link to dataset to be found on this page, under RoadWork-But-German-Annotations].
2025
- Steinke, N., Goehring, D.: GroundLoc: Efficient Large-Scale Outdoor LiDAR-Only Localization, IEEE Robotics and Automation Letters, Volume: 10, Issue: 12, 2025. [ieee link][preprint arxiv.org pdf].
- Bouzidi, M.-K., Schlauch, C., Scheurer, N., Yao, Y., Klein, N., Göhring, D., Reichardt, J.: Closing the loop: Motion prediction models beyond open-loop benchmarks, In: IEEE 28th International Conference on Intelligent Transportation Systems (ITSC), 2025. [preprint arxiv.org pdf].
- Bouzidi, M.-K., Derajic., B., Goehring, D., Reichardt, J.: Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC,In: Intelligent Vehicles Symposion (IV), 2025. [preprint arxiv.org pdf] [bib].
- Yao, Y., Bouzidi, M.-K., Goehring, D., Reichardt, J.: EP-Diffuser: An Efficient Diffusion Model for Traffic Scene Generation and Prediction via Polynomial Representations, IEEE Robotics Automation Letters, Volume 10, Issue 9, 2025, [preprint arxiv.org pdf].
- Yao, Y., Bouzidi, M.-K., Goehring, D., Reichardt, J.: Beyond In-Distribution Performance: A Cross-Dataset Study of Trajectory Prediction Robustness, arXiv.org. [preprint arxiv.org pdf]
2024
- Jorge, J., Barros, T., Premebida, C., Aleksandrov, M., Goehring, D., Nunes, U.J.: Impact of 3D LiDAR resolution in SLAM approaches: A comparative study in Urban environments. In: ROBOT 2024. [preprint arxiv.org pdf] [bib].
- Beutler, T., Rudolph, A., Goehring, D., Vercauteren, N.: Exploring the ability of regional extrapolation for precipitation nowcasting with deep learning. Meteorologische Zeitschrift, 2024. [preprint pdf] bib].
- Yao, Y., Yan, S., Goehring, D., Burgard, W., Reichardt, J.: Improving Out-of-Distribution Generalization of Trajectory Prediction for Autonomous Driving via Polynomial Representations. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024. [preprint arxiv.org pdf] [bib], Best Poster Award at the IAAS Workshop [pdf].
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Timoneda, X., Herb, M., Duerr, F., Goehring, D., Yu, F.: Multi-modal NeRF Self-Supervision for LiDAR Semantic Segmentation. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024. [preprint arxiv.org pdf] [bib]
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Bouzidi, M.-K., Derajic, B., Goehring, D., Reichardt, J.: Motion Planning under Uncertainty: Integrating Learning-Based Multi-Modal Predictors into Branch Model Predictive Control. IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), 2024. [preprint arxiv.org pdf] [bib]
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Quentin, P., Goehring, D. MaskVal: Simple but Effective Uncertainty Quantification for 6D Pose Estimation. In: IEEE International Conference on Automation Science and Engineering (CASE), 2024. [preprint arxiv.org pdf] [bib]
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Steinke, N., Goehring, D., Rojas, R. GroundGrid: LiDAR Point Cloud Ground Segmentation and Terrain Estimation. In: IEEE International Conference on Robotics and Automation (ICRA), 2024. [preprint arxiv.org pdf] [bib]]
2023
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Yao, Y., Goehring, D., Reichardt, J. An Empirical Bayes Analysis of Object Trajectory Representation Models. IEEE International Conference on Intelligent Transportation Systems (ITSC), Bilbao, Spain, 2023. [pdf]
2022
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Alomari, K., Sundermann, S., Goehring, D., Rojas, R. Design and Experimental Analysis of an Adaptive Cruise Control. Robotics, Computer Vision and Intelligent Systems, Springer International Publishing, Freie Universität Berlin, Germany, 2022. [bib]
2021
2020
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Poss, C. Irrenhauser, T., Prueglmeier, M., Goehring, D., Salehi, V, Zoghlami, F. Enabling Robust and Autonomous Materialhandling in Logistics Through Applied Deep Learning Algorithms. In: M. Arif Wani, Mehmed Kantardzic and Moamar Sayed-Mouchaweh, editors, Deep Learning Applications, Advances in Intelligent Systems and Computing, Volume 1098, pages 155--176. Springer, 2020.
2019
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Poss, C., Mlouka, O. B., Irrenhauser, T., Prueglmeier, M., Göhring, D., Zoghlami, F., Salehi, V. Robust Framework for intelligent Gripping Point Detection. In: IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society, Lisbon, Portugal, 2019. [bib]
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Poss, C. Irrenhauser, T., Prueglmeier, M., Goehring, D., Zoghlami, F., Salehi, V, Ibraginow, O. Enabling robot selective trained Deep Neural Networks for Object Detection through intelligent Infrastructure. In: 4th International Conference on Artificial Intelligence and Robotics - International Conference on Automation, Control and Robotics Engineering (ICAIR - CACRE), Shenzen, China, 2019. Best Paper Award [pdf] [bib]
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Poss, C., Irrenhauser, T., Prueglmeier, M., Goehring, D., Zoghlami, F., Salehi, V. Perceptionbased Intelligent Materialhandling in Industrial Logistics Environments. In: Proceedings of the 2019 11th International Conference on Computer and Automation Engineering, Perth, Australia, 2019.
2018
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Poss, C., Olimjon, I., Indreswaran, A., Gutsche, N., Irrenhauser, T., Prueglmeier, M., Goehring, D. Application of Open-Source Deep Neural Networks for Object Detection in Industrial Environments. In: IEEE International Conference on Machine Learning and Applications, Orlando, FL, USA, 2018. [pdf] [bib]
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Boroujeni, Z., Mohammadi, M., Neumann, D., Goehring, D., Rojas, R. Autonomous Car Navigation using Vector Fields. IEEE Intelligent Vehicle (IV 18), Suzhou, China, 2018. [pdf] [bib]
2017
2016
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Langner, T., Seifert, D., Fischer, B., Goehring, D., Ganjineh, T., Rojas, R. Traffic Awareness Driver Assistance based on Stereovision, Eye-tracking, and Head-Up Display. In: IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 2016. [pdf] [slides] [poster] [video] [bib]
2015
2014
2013
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Schnürmacher, M., Göhring, D., Wang, M., Ganjineh, T. High level sensor data fusion of radar and lidar for car-following on highways. In: Recent Advances in Robotics and Automation, 2013. [bib]
2012
2011
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Reuschenbach, A., Wang, M., Ganjineh, T., Göhring, D. iDriver - A Human Machine Interface for Autonomous Cars. In: Proceedings of IEEE International Conference on Information Technology : New Generations (ITNG), Las Vegas, NV, USA, 2011. [pdf]
2010
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Daniel Göhring Constraint Based World Modeling for Multi Agent Systems in Dynamic Environments. In: KI - Künstliche Intelligenz, Volume 24, Number 4, 349-353, DOI: 10.1007/s13218-010-0049-8, Dissertationen und Habilitationen, Springer, 2010. [bib]
2009
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Göhring, D., Mellmann, H., Burkhard, H.-D. Constraint Based World Modeling in Mobile Robotics. In: Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, 2009. [bib]
2008
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Göhring, D., Mellmann, H., Gerasymova, K. Burkhard, H.-D. Constraint Based World Modeling. In: Fundamenta Informaticae, vol. 85, numer 1-4, pages 123-137, IOS-Press, 2008. [bib]
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Block, A., Göhring, D. Multi-Agent State and Dynamics Modeling Using Visual Percept Relations. In: Proceedings of Concurrency, Specification and Programming (CS&P), Gross Vaeter, Germany, 2008. [bib]
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Göhring, D., Mellmann, H., Burkhard, H.-D. Constraint Based Belief Modeling. In: RoboCup 2008: Robot Soccer World Cup XII, Beijing, China, Lecture Notes in Artificial Intelligence. Springer. [bib]
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Göhring, D., Mellmann, H., Burkhard, H.-D. Constraint Based Object State Modeling. In: European Robotics Symposium, Lecture Notes in Artificial Intelligence. Springer, Prague, Czech Republic, 2008. [bib]
2007
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Göhring, D., Burkhard, H.-D. Cooperatice World Modeling in Dynamic Multi-Robot Environments. In: Fundamenta Informaticae, vol. 75, numer 1-4, pages 281-294, IOS-Press, 2007. [bib]
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Göhring, D., Gerasymova, K., Burkhard, H.-D. Constraint Based World Modeling for Autonomous Robots In: Proceedings of Concurrency, Specification and Programming (CS&P), Lagow, Poland, 2007. [bib]
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Daniel Göhring Cooperative Object Localization Using Line-Based Percept Communication. In: RoboCup 2007: Robot Soccer World Cup XI, Atlanta, GA, USA, Lecture Notes in Artificial Intelligence. Springer, 2008. [bib]
2006
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Daniel Göhring Distributed Object Modeling Using Object Relations in Dynamic Environments In: Proceedings of Concurrency, Specification and Programming (CS&P), Wandlitz, Germany, 2006. [bib]
2005
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Hoffmann, J., Spranger, M., Göhring, D., Jüngel, M. Negative Information and Proprioception in Monte Carlo Self-Localization for a 4-Legged Robots. Nineteenth International Joint Conference on Artificial Intelligence (IJCAI), Workshop on Agents in Real-Time and Dynamic Environments, Edinburgh, UK, 2005. [bib]
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Hoffmann, J., Spranger, M., Göhring, D., Jüngel, M. Exploiting the Unexpected: Negative Evidence Modeling and Proprioceptive Motion Modeling for Improved Markov Localization. In: 9th International Workshop on RoboCup, Osaka, Japan, (Robot World Cup Soccer Games and Conferences), Lecture Notes in Artificial Intelligence. Springer, 2005. [bib]
2004
2003
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Studienarbeit: Entwicklung einer Kollisionserkennung für den AIBO Roboter. [pdf]
Technical Reports
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Becker, D., Brose, J., Göhring, D., Jüngel, M., Risler, M., Röfer, T. German Team 2008 , The German National RoboCup Team. In: RoboCup 2008: Robot Soccer World Cup XII, Suzhou, China, Lecture Notes in Artificial Intelligence. Springer. [bib]
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Borisov., A., Curow, S., Ferdowsizadeh, A., Göhring, D., Hermann, T., Krause, T., Martius, M., Mellmann, H., Skelton, T., Welter, O. Nao-Team Humboldt 2008, The RoboCup Nao Team of the Humboldt-Universität zu Berlin. In: RoboCup 2008: Robot Soccer World Cup XII, Suzhou, China, Lecture Notes in Artificial Intelligence. Springer. [bib]
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Röfer, T., Brose, J., Göhring, D., Jüngel, M., Laue, T., Risler, M. German Team 2007, The German National RoboCup Team. In: RoboCup 2007: Robot Soccer World Cup XI, Atlanta, USA, Lecture Notes in Artificial Intelligence. Springer.
Miscellaneous