2026

  1. Gacheva, I., Hattingen, E., Polomac, N., Lu, D., Kurz, G., & Triesch, J. (2026). Künstliche Intelligenz zur Differenzierung neoplastischer und nichtneoplastischer Hirnläsionen. RöFo - Fortschritte Auf Dem Gebiet Der Röntgenstrahlen Und Der Bildgebenden Verfahren, 198(S 01), ab122. https://doi.org/10.1055/s-0046-1817546 doi
  2. Gacheva, I., Lu, D., Kurz, G., Triesch, J., Hattingen, E., & Polomac, N. (2026). Multiple instance learning for differentiating neoplastic and non-neoplastic brain lesions using MR spectroscopy. NeuroImage: Reports, 6(4), 100418. https://doi.org/https://doi.org/10.1016/j.ynirp.2026.100418 doi

2023

  1. Lu, D., Kurz, G., Polomac, N., Gacheva, I., Hattingen, E., & Triesch, J. (2023, September). Advancing Brain Tumor Detection with Multiple Instance Learning on Magnetic Resonance Spectroscopy Data. Artificial Neural Networks and Machine Learning – ICANN 2023, 32nd International Conference on Artificial Neural Networks. https://doi.org/10.1007/978-3-031-44216-2_1 doi

2022

  1. Holoch, M., Kurz, G., & Biber, P. (2022). Detecting Invalid Map Merges in Lifelong SLAM. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 11039–11046. https://doi.org/10.1109/IROS47612.2022.9981564 doi
  2. Kurz, G., Scherer, S. A., Biber, P., & Fleer, D. (2022). When Geometry is not Enough: Using Reflector Markers in Lidar SLAM. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 4880–4887. https://doi.org/10.1109/IROS47612.2022.9981522 doi

2021

  1. Lu, D., Kurz, G., Polomac, N., Gacheva, I., Hattingen, E., & Triesch, J. (2021). Multiple Instance Learning for Brain Tumor Detection from Magnetic Resonance Spectroscopy Data. arXiv. https://doi.org/10.48550/ARXIV.2112.08845 web doi
  2. Kurz, G., Holoch, M., & Biber, P. (2021). Geometry-based Graph Pruning for Lifelong SLAM. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 3313–3320. https://doi.org/10.1109/IROS51168.2021.9636530 doi

2020

  1. Kurz, G., Faion, F., Pfaff, F., Zea, A., & Hanebeck, U. D. (2020). Three-dimensional Simultaneous Shape and Pose Estimation for Extended Objects Using Spherical Harmonics. https://arxiv.org/abs/2012.13580 web

2019

  1. Kurz, G., Gilitschenski, I., Pfaff, F., Drude, L., Hanebeck, U. D., Haeb-Umbach, R., & Siegwart, R. Y. (2019). Directional Statistics and Filtering Using libDirectional. Journal of Statistical Software, 89(4), 1–31. https://doi.org/10.18637/jss.v089.i04 web doi

2018

  1. Li, K., Kurz, G., Bernreiter, L., & Hanebeck, U. D. (2018, July). Nonlinear Progressive Filtering for SE(2) Estimation. Proceedings of the 21st International Conference on Information Fusion (Fusion 2018). PDF
  2. Li, K., Kurz, G., Bernreiter, L., & Hanebeck, U. D. (2018, July). Simultaneous Localization and Mapping Using a Novel Dual Quaternion Particle Filter. Proceedings of the 21st International Conference on Information Fusion (Fusion 2018). PDF
  3. Dolgov, M., Kurz, G., Grimm, D., Rosenthal, F., & Hanebeck, U. D. (2018, June). Stochastic Optimal Control Using Local Sample-Based Value Function Approximation. Proceedings of the 2018 American Control Conference (ACC 2018). https://doi.org/10.23919/ACC.2018.8431584 PDF doi
  4. Kurz, G., & Hanebeck, U. D. (2018, June). Improved Progressive Gaussian Filtering Using LRKF Priors. Proceedings of the 2018 American Control Conference (ACC 2018). https://doi.org/10.23919/ACC.2018.8431768 PDF doi
  5. Kurz, G., Pfaff, F., & Hanebeck, U. D. (2018). Application of Discrete Recursive Bayesian Estimation on Intervals and the Unit Circle to Filtering on SE(2). IEEE Transactions on Industrial Informatics, 14(3), 1197–1206. https://doi.org/10.1109/TII.2017.2757011 PDF doi

2017

  1. Kurz, G., & Hanebeck, U. D. (2017, December). Linear Regression Kalman Filtering Based on Hyperspherical Deterministic Sampling. Proceedings of the 56th IEEE Conference on Decision and Control (CDC 2017). PDF
  2. Pfaff, F., Kurz, G., Pieper, C., Maier, G., Noack, B., Kruggel-Emden, H., Gruna, R., Hanebeck, U. D., Wirtz, S., Scherer, V., Laengle, T., & Beyerer, J. (2017, November). Improving Multitarget Tracking Using Orientation Estimates for Sorting Bulk Materials. Proceedings of the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017). PDF
  3. Pfaff, F., Kurz, G., & Hanebeck, U. D. (2017, November). Filtering on the Unit Sphere Using Spherical Harmonics. Proceedings of the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017). PDF
  4. Kurz, G., Pfaff, F., & Hanebeck, U. D. (2017, November). Discretization of SO(3) Using Recursive Tesseract Subdivision. Proceedings of the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017). PDF
  5. Kurz, G., Pfaff, F., & Hanebeck, U. D. (2017, July). Nonlinear Toroidal Filtering Based on Bivariate Wrapped Normal Distributions. Proceedings of the 20th International Conference on Information Fusion (Fusion 2017). PDF
  6. Kurz, G., & Hanebeck, U. D. (2017). Deterministic Sampling on the Torus for Bivariate Circular Estimation. IEEE Transactions on Aerospace and Electronic Systems, 53(1), 530–534. https://doi.org/10.1109/TAES.2017.2650079 PDF doi

2016

  1. Dolgov, M., Kurz, G., & Hanebeck, U. D. (2016, December). Finite-horizon Dynamic Compensation of Markov Jump Linear Systems without Mode Observation. Proceedings of the 55th IEEE Conference on Decision and Control (CDC 2016). PDF
  2. Kurz, G., Gilitschenski, I., Siegwart, R. Y., & Hanebeck, U. D. (2016). Methods for Deterministic Approximation of Circular Densities. Journal of Advances in Information Fusion, 11(2), 138–156. https://isif.org/media/methods-deterministic-approximation-circular-densities web
  3. Pfaff, F., Kurz, G., & Hanebeck, U. D. (2016). Multivariate Angular Filtering Using Fourier Series. Journal of Advances in Information Fusion, 11(2), 206–226. https://isif.org/media/multivariate-angular-filtering-using-fourier-series web
  4. Kurz, G., Pfaff, F., & Hanebeck, U. D. (2016, September). Discrete Recursive Bayesian Filtering on Intervals and the Unit Circle. Proceedings of the 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016). PDF
  5. Gilitschenski, I., Kurz, G., Hanebeck, U. D., & Siegwart, R. (2016, July). Optimal Quantization of Circular Distributions. Proceedings of the 19th International Conference on Information Fusion (Fusion 2016). PDF
  6. Kurz, G., Dolgov, M., & Hanebeck, U. D. (2016, July). Progressive Closed-Loop Chance-Constrained Control. Proceedings of the 19th International Conference on Information Fusion (Fusion 2016). PDF
  7. Kurz, G., Pfaff, F., & Hanebeck, U. D. (2016, July). Kullback-Leibler Divergence and Moment Matching for Hyperspherical Probability Distributions. Proceedings of the 19th International Conference on Information Fusion (Fusion 2016). PDF
  8. Pfaff, F., Kurz, G., & Hanebeck, U. D. (2016, July). Nonlinear Prediction for Circular Filtering Using Fourier Series. Proceedings of the 19th International Conference on Information Fusion (Fusion 2016). PDF
  9. Kurz, G., Gilitschenski, I., & Hanebeck, U. D. (2016). Unscented von Mises-Fisher Filtering. IEEE Signal Processing Letters, 23(4), 463–467. https://doi.org/10.1109/LSP.2016.2529854 PDF doi
  10. Kurz, G., Gilitschenski, I., & Hanebeck, U. D. (2016). Recursive Bayesian Filtering in Circular State Spaces. IEEE Aerospace and Electronic Systems Magazine, 31(3), 70–87. https://doi.org/10.1109/MAES.2016.150083 PDF doi
  11. Gilitschenski, I., Kurz, G., Julier, S. J., & Hanebeck, U. D. (2016). Unscented Orientation Estimation Based on the Bingham Distribution. IEEE Transactions on Automatic Control, 61(1), 172–177. https://doi.org/10.1109/TAC.2015.2423831 PDF doi

2015

  1. Kurz, G., & Hanebeck, U. D. (2015, December). Parameter Estimation for the Bivariate Wrapped Normal Distribution. Proceedings of the 54th IEEE Conference on Decision and Control (CDC 2015). https://doi.org/10.1109/CDC.2015.7402373 PDF doi
  2. Dolgov, M., Kurz, G., & Hanebeck, U. D. (2015, December). Chance-constrained Model Predictive Control based on Box Approximations. Proceedings of the 54th IEEE Conference on Decision and Control (CDC 2015). https://doi.org/10.1109/CDC.2015.7403353 PDF doi
  3. Kurz, G., & Hanebeck, U. D. (2015). Trigonometric Moment Matching and Minimization of the Kullback–Leibler Divergence. IEEE Transactions on Aerospace and Electronic Systems, 51(4), 3480–3484. https://doi.org/10.1109/TAES.2015.150406 PDF doi
  4. Kurz, G., & Hanebeck, U. D. (2015, October). Stochastic Sampling of the Hyperspherical von Mises–Fisher Distribution Without Rejection Methods. Proceedings of the IEEE ISIF Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF 2015). https://doi.org/10.1109/SDF.2015.7347705 PDF doi
  5. Gilitschenski, I., Kurz, G., & Hanebeck, U. D. (2015, September). A Stochastic Filter for Planar Rigid-Body Motions. Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2015). https://doi.org/10.1109/MFI.2015.7295738 PDF doi
  6. Kurz, G., & Hanebeck, U. D. (2015, September). Toroidal Information Fusion Based on the Bivariate von Mises Distribution. Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2015). https://doi.org/10.1109/MFI.2015.7295826 PDF doi
  7. Gilitschenski, I., Kurz, G., & Hanebeck, U. D. (2015, July). Non-Identity Measurement Models for Orientation Estimation Based on Directional Statistics. Proceedings of the 18th International Conference on Information Fusion (Fusion 2015). PDF
  8. Kurz, G., & Hanebeck, U. D. (2015, July). Heart Phase Estimation Using Directional Statistics for Robotic Beating Heart Surgery. Proceedings of the 18th International Conference on Information Fusion (Fusion 2015). PDF
  9. Pfaff, F., Kurz, G., & Hanebeck, U. D. (2015, July). Multimodal Circular Filtering Using Fourier Series. Proceedings of the 18th International Conference on Information Fusion (Fusion 2015). PDF
  10. Kurz, G., Dolgov, M., & Hanebeck, U. D. (2015, July). Nonlinear Stochastic Model Predictive Control in the Circular Domain. Proceedings of the 2015 American Control Conference (ACC 2015). https://doi.org/10.1109/ACC.2015.7171000 PDF doi
  11. Kurz, G. (2015). Directional Estimation for Robotic Beating Heart Surgery [PhD thesis, Karlsruhe Institute of Technology, Intelligent Sensor-Actuator-Systems Laboratory]. https://doi.org/10.5445/KSP/1000047040 doi

2014

  1. Kurz, G., Gilitschenski, I., Julier, S., & Hanebeck, U. D. (2014). Recursive Bingham Filter for Directional Estimation Involving 180 Degree Symmetry. Journal of Advances in Information Fusion, 9(2), 90–105. http://confcats_isif.s3.amazonaws.com/web-files/journals/entries/431_2_art_10_2559_1.pdf PDF web
  2. Kurz, G., Gilitschenski, I., Dolgov, M., & Hanebeck, U. D. (2014, December). Bivariate Angular Estimation Under Consideration of Dependencies Using Directional Statistics. Proceedings of the 53rd IEEE Conference on Decision and Control (CDC 2014). https://doi.org/10.1109/CDC.2014.7039789 PDF doi
  3. Kurz, G., Gilitschenski, I., & Hanebeck, U. D. (2014, October). Efficient Evaluation of the Probability Density Function of a Wrapped Normal Distribution. Proceedings of the IEEE ISIF Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF 2014). https://doi.org/10.1109/SDF.2014.6954713 PDF doi
  4. Gilitschenski, I., Kurz, G., Julier, S. J., & Hanebeck, U. D. (2014, September). Efficient Bingham Filtering based on Saddlepoint Approximations. Proceedings of the 2014 IEEE International Conference on Multisensor Fusion and Information Integration (MFI 2014). https://doi.org/10.1109/MFI.2014.6997734 PDF doi
  5. Kurz, G., Gilitschenski, I., & Hanebeck, U. D. (2014, September). The Partially Wrapped Normal Distribution for SE(2) Estimation. Proceedings of the 2014 IEEE International Conference on Multisensor Fusion and Information Integration (MFI 2014). https://doi.org/10.1109/MFI.2014.6997733 PDF doi
  6. Kurz, G., Foley, G., Hegedus, P., Szabo, G., & Hanebeck, U. D. (2014, September). Evaluation of Image Stabilization Methods in Robotic Beating Heart Surgery. 13. Jahrestagung Der Deutschen Gesellschaft Für Computer- Und Roboterassistierte Chirurgie (CURAC14). PDF
  7. Gilitschenski, I., Kurz, G., Julier, S. J., & Hanebeck, U. D. (2014, July). A New Probability Distribution for Simultaneous Representation of Uncertain Position and Orientation. Proceedings of the 17th International Conference on Information Fusion (Fusion 2014). PDF
  8. Kurz, G., Gilitschenski, I., & Hanebeck, U. D. (2014, July). Deterministic Approximation of Circular Densities with Symmetric Dirac Mixtures Based on Two Circular Moments. Proceedings of the 17th International Conference on Information Fusion (Fusion 2014). PDF
  9. Kurz, G., & Hanebeck, U. D. (2014, July). 2D and 3D Image Stabilization for Robotic Beating Heart Surgery. Proceedings of the 17th International Conference on Information Fusion (Fusion 2014). PDF
  10. Kurz, G., Baum, M., & Hanebeck, U. D. (2014, June). Real-time Kernel-based Multiple Target Tracking for Robotic Beating Heart Surgery. Proceedings of the Eighth IEEE Sensor Array and Multichannel Signal Processing Workshop (SAM 2014). https://doi.org/10.1109/SAM.2014.6882375 PDF doi
  11. Dolgov, M., Kurz, G., & Hanebeck, U. D. (2014, June). State Estimation for Stochastic Hybrid Systems Based on Deterministic Dirac Mixture Approximation. Proceedings of the 2014 American Control Conference (ACC 2014). https://doi.org/10.1109/ACC.2014.6859173 PDF doi
  12. Kurz, G., Gilitschenski, I., & Hanebeck, U. D. (2014, June). Nonlinear Measurement Update for Estimation of Angular Systems Based on Circular Distributions. Proceedings of the 2014 American Control Conference (ACC 2014). https://doi.org/10.1109/ACC.2014.6858982 PDF doi
  13. Kurz, G., & Hanebeck, U. D. (2014). Dynamic Surface Reconstruction by Recursive Fusion of Depth and Position Measurements. Journal of Advances in Information Fusion, 9(1), 13–26. http://confcats_isif.s3.amazonaws.com/web-files/journals/entries/427_1_art_6_19271%5B1%5D.pdf PDF web

2013

  1. Kurz, G., Hegedus, P., Szabo, G., & Hanebeck, U. D. (2013, November). Experimental Evaluation of Kinect and Inertial Sensors for Beating Heart Tracking. 12. Jahrestagung Der Deutschen Gesellschaft Für Computer- Und Roboterassistierte Chirurgie (CURAC13). PDF
  2. Kurz, G., Faion, F., & Hanebeck, U. D. (2013, October). Constrained Object Tracking on Compact One-dimensional Manifolds Based on Directional Statistics. Proceedings of the Fourth IEEE GRSS International Conference on Indoor Positioning and Indoor Navigation (IPIN 2013). https://doi.org/10.1109/IPIN.2013.6817860 PDF doi
  3. Gilitschenski, I., Kurz, G., & Hanebeck, U. D. (2013, July). Bearings-Only Sensor Scheduling Using Circular Statistics. Proceedings of the 16th International Conference on Information Fusion (Fusion 2013). PDF
  4. Kurz, G., Gilitschenski, I., Julier, S. J., & Hanebeck, U. D. (2013, July). Recursive Estimation of Orientation Based on the Bingham Distribution. Proceedings of the 16th International Conference on Information Fusion (Fusion 2013). PDF
  5. Kurz, G., & Hanebeck, U. D. (2013, July). Recursive Fusion of Noisy Depth and Position Measurements for Surface Reconstruction. Proceedings of the 16th International Conference on Information Fusion (Fusion 2013). PDF
  6. Kurz, G., Gilitschenski, I., & Hanebeck, U. D. (2013, June). Recursive Nonlinear Filtering for Angular Data Based on Circular Distributions. Proceedings of the 2013 American Control Conference (ACC 2013). https://doi.org/10.1109/ACC.2013.6580688 PDF doi

2012

  1. Kurz, G., & Hanebeck, U. D. (2012, November). Image Stabilization with Model-Based Tracking for Beating Heart Surgery. 11. Jahrestagung Der Deutschen Gesellschaft Für Computer- Und Roboterassistierte Chirurgie (CURAC12). PDF

2011

  1. Oberländer, J., Harbaum, T., Kurz, G., Ahmed, N., Kos-Grabar, T., Hermann, A., Rönnau, A., & Dillmann, R. (2011). A Student-built Ball-throwing Robotic Companion for Hands-on Robotics Education. Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), 233–240. https://doi.org/10.1142/9789814374286_0027 doi