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Martin Lingenauber

Deutsches Zentrum für Luft- und Raumfahrt (DLR)
Institut für Robotik und Mechatronik
Perzeption und Kognition
Oberpfaffenhofen
Münchener Str. 20
82234 Weßling

Telefon: +49 8153 28-1595
E-Mail: Martin Lingenauber

 

I'm a researcher in the field of robot vision at the DLR Institute of Robotics and Mechatronics. In my research, I combine my space engineering background with my interest in computer vision and robotics. Therefore, my work is mostly related to space robotic topics, but I'm also interested in new sensor concepts and in bio-inspired robotics. Below you can find an overview of my activities, projects and publications.

Students looking for an internship or a final thesis project may check the section on open positions.

Research interests

  • Plenoptic cameras and light field data processing
  • Robot vision for space robotics
  • On-orbit servicing and planetary exploration
  • Autonomous vision based localization
  • Bio-inspired robotics and swarm intelligence

Short CV

  • since 2011: Researcher at the DLR Institute of Robotics and Mechatronics - Department of Perception and Cognition
  • 2010 - 2011: European Space Agency, Control Systems Section (TEC-ECC) as a German Trainee
  • 2010: Graduation with distinction in Aerospace Engineering at the Technical University of Berlin, Germany
    • Diploma thesis in cooperation with the DLR Institute of Planetary Research: Implementierung und Analyse eines automatischen Matchingverfahrens für die Selbstlokalisierung planetarer Rover
  • 2008 - 2009: Visiting student at the University of Calgary, Canada (awarded a grant from the Antje Graupe Pryor Foundation)
  • 2005 - 2010: Studies of Aerospace Engineering with focus on space engineering at the Technical University of Berlin, Germany
  • 2003 - 2005: Studies of Aerospace Engineering at the University of Stuttgart, Germany

Achievements

  • Plenoptic cameras for planetary exploration (since 2017): With project LIPA (Light field cameras for In-situ Planetology and Astrobiology), I lead the first systematic and in-depth investigation of plenoptic cameras for planetary exploration. We already achieved one of the most detailed optical models for plenoptic cameras along with quantitative measurements of their performance.
  • Plenoptic cameras for OOS (2017): First publication on plenoptic cameras for on-orbit servicing with our paper on Benefits of Plenoptic Cameras for Robot Vision during Close Range On-Orbit Servicing Maneuvers.
  • CROOS-CV dataset (2015): Release of the first publicly available image data set for computer vision for on-orbit servicing maneuvers. Check it out at http://rmc.dlr.de/rm/en/staff/martin.lingenauber/crooscv-dataset
  • Binary Shadow Matching (since 2013): Invention and development of the Binary Shadow Matching (BSM) algorithm for autonomous vision based localization during planetary landings in cooperation with Hannah Lehner, Tim Bodenmüller and Heiko Hirschmüller (see our paper https://doi.org/10.1109/AERO.2015.7119045, patent DE 10 2014 108 873 B4)

Projects

 

LIPA (2017 ongoing)

Function: Project leader and researcher

The project LIPA (Light field cameras for In-situ Planetology and Astrobiology) investigates the usage of light field cameras for future planetary exploration missions. Light field cameras are envisioned to provide enhanced in-situ imaging capabilities.

InFuse (2016 - 2019)

Function: Engineering for on-orbit servicing topics

InFuse is a European Horizon 2020 funded project. A consortium of expert companies and organizations are working to develop a novel software framework for the Space Robotic Technologies Strategic Research Cluster (SRC).

ATON (2011-2017)

Function: Workpackage leader and researcher

ATON (Autonomous Terrain-based Optical Navigation) is a project to develop an optical navigation system for autonomous landings on celestial bodies.

Development of three computer vision modules:

  • in-flight creation of depth maps with the SGM algorithm
  • absolute self-localization by matching in-flight depth maps to pre-known DEMs with a 3D matching algorithm
  • absolute self-localization with the Binary Shadow Matching algorithm

DEOS (2014)

Function: Test engineer

The goal of DEOS is the on-orbit verification of key robotics hard- and software elements for advanced space maintenance and servicing systems.

Creation of a laboratory to test and develop computer vision algorithms for on-orbit servicing. The laboratory is described in our paper A Dataset to Support and Benchmark Computer Vision Development for Close Range On-Orbit Servicing.

Publications

[Cxx] = Conference paper; [Jxx] = Journal paper

  • [C10] Lingenauber, Martin and Krutz, Ulrike and Fröhlich, Florian A. and Nissler, Christian and Strobl, Klaus H. (2019) In-Situ Close-Range Imaging with Plenoptic Cameras. Proceedings of the IEEE Aerospace Conference 2019, March 2-9 2019, Big Sky, MT, USA.
    https://ieeexplore.ieee.org/abstract/document/8741956
  • [C09] Lingenauber, Martin and Krutz, Ulrike and Fröhlich, Florian Alexander and Nissler, Christian and Strobl, Klaus (2018) Plenoptic cameras for in-situ micro imaging. Copernicus. European Planetary Science Congress 2018, 16-21 Sep 2018, Berlin, Germany.
    https://elib.dlr.de/121864/
  • [C08] Krutz, Ulrike and Lingenauber, Martin and Strobl, Klaus H. and Fröhlich, Florian and Buder, Maximilian (2018) Diffraction model of a plenoptic camera for in-situ space exploration. In: 10677. Proc. SPIE. SPIE Photonics Europe, 22.-26. April 2018, Straßburg, Frankreich.
    https://elib.dlr.de/120145/
    https://doi.org/10.1117/12.2306743
  • [J02] Theil, Stephan and Ammann, Nikolaus Alexander and Andert, Franz and Franz, Tobias and Krüger, Hans and Lehner, Hannah and Lingenauber, Martin and Lüdtke, Daniel and Maass, Bolko and Paproth, Carsten and Wohlfeil, Jürgen (2018) ATON (Autonomous Terrain-based Optical Navigation) for exploration missions: recent flight test results. CEAS Space Journal. Springer.
    https://elib.dlr.de/119557/
    https://doi.org/10.1007/s12567-018-0201-0
  • [C07] Theil, Stephan and Ammann, Nikolaus Alexander and Andert, Franz and Franz, Tobias and Krüger, Hans and Lehner, Hannah and Lingenauber, Martin and Lüdtke, Daniel and Maass, Bolko and Paproth, Carsten and Wohlfeil, Jürgen (2017) ATON - Autonomous Terrain-based Optical Navigation for Exploration Missions: Recent Flight Test Results. Deutscher Luft- und Raumfahrtkongress, 5-7 September 2017, Munich.
    https://elib.dlr.de/114457/
  • [C06] Lingenauber, Martin and Strobl, Klaus H. and Oumer, Nassir W. and Kriegel, Simon (2017) Benefits of Plenoptic Cameras for Robot Vision during Close Range On-Orbit Servicing Maneuvers. Proceedings of the IEEE Aerospace Conference 2017, March 4-11 2017, Big Sky, MT, USA.
    https://elib.dlr.de/112140/
    https://doi.org/10.1109/AERO.2017.7943666
  • [J01] Strobl, Klaus H. and Lingenauber, Martin (2016) Stepwise Calibration of Focused Plenoptic Cameras. Computer Vision and Image Understanding (CVIU), Volume 145, pp. 140 - 147, Academic Press Inc. ISSN 1077-3142
    https://elib.dlr.de/103337/
    http://dx.doi.org/10.1016/j.cviu.2015.12.010
  • [C05] Lingenauber, Martin and Kriegel, Simon and Kaßecker, Michael and Panin, Giorgio (2015) A Dataset to Support and Benchmark Computer Vision Development for Close Range On-Orbit Servicing. Proceedings of ASTRA 2015. European Space Agency. ASTRA 2015 - 13th Symposium on Advanced Space Technologies in Robotics and Automation, May 11-13 2015, ESA-ESTEC, Nordwijk, Netherlands.
    https://elib.dlr.de/96220/
    http://robotics.estec.esa.int/ASTRA/Astra2015/Papers/Session 7A/98871_Lingenauber.pdf
  • [C04] Kaufmann, Hannah and Lingenauber, Martin and Bodenmüller, Tim and Suppa, Michael (2015) Shadow-Based Matching for Precise and Robust Absolute Self-Localization during Lunar Landings. Proceedings of the IEEE Aerospace Conference 2015, pp. 1-13. IEEE Aerospace Conference 2015, March 7-14 2015, Big Sky, MT, USA. ISSN 1095-323X
    https://elib.dlr.de/97110/
    https://doi.org/10.1109/AERO.2015.7119045
  • [C03] Lingenauber, Martin and Bodenmüller, Tim and Bartelsen, Jan and Maass, Bolko and Krüger, Hans and Paproth, Carsten and Kuß, Sebastian and Suppa, Michael (2013) Rapid Modeling of High Resolution Moon-Like Terrain Models for Testing of Optical Localization Methods. Proceedings of ASTRA 2013. European Space Agency. ASTRA 2013 - 12th Symposium on Advanced Space Technologies in Robotics and Automation, May 15-17 2013, ESA-ESTEC, Noordwijk, Netherlands.
    https://elib.dlr.de/83241/
    http://robotics.estec.esa.int/ASTRA/Astra2013/Papers/lingenauber_2825249.pdf
  • [C02] Raddatz, Florian and Heinze, Christoph and Dienel, Christoph and Lingenauber, Martin (2013) Non-destructive Testing and Damage Assessment of Composite Aerospace Structures Using Lamb Waves. In: Proceedings of the 4th International Workshop on Aircraft Systems Technologies, pp. 425-436. Shaker Verlag. 4th International Workshop on Aircraft System Technologies, April 23-24 2013, Hamburg. ISBN 978-3-8440-1850-9 ISSN 0945-2214
    https://elib.dlr.de/82314/
  • [C01] Lingenauber, Martin (2011) Shape Context Matching for the Self-Localization of Planetary Rover. Proceedings of ASTRA 2011. European Space Agency. ASTRA 2011 - 11th Symposium on Advanced Space Technologies in Robotics and Automation, April 12-14 2011, ESA-ESTEC, Noordwijk, Netherlands. http://robotics.estec.esa.int/ASTRA/Astra2011/Papers/06B/FCXNL-11A06-2145763-1-2145763lingenauber.pdf

Datasets

 

CROOS-CV: Image data set for close range OOS maneuvers

The data set is intended to support and benchmark Computer Vision (CV) development for Close Range On-Orbit Servicing (CROOS). It is an representative image data set for close range OOS operations with distances of 2 m between servicer and client satellite that was recorded under illumination conditions similar to a Low Earth Orbit.

It is available for download at http://rmc.dlr.de/rm/en/staff/martin.lingenauber/crooscv-dataset

High resolution DEMs of lunar landing sites

A set of 5 high resolution Digital Elevation Models of possible lunar landing sites. The DEMs were created from handcrafted models of landscapes, each with a different characteristic. More details about the data set and its creation can be found in our paper Rapid Modeling of High Resolution Moon-Like Terrain Models for Testing of Optical Localization Methods PDF. The DEMs can be made available upon request.

Students

  • Dominic Seyfert (2018-2019): Bachelor thesis on plenoptic cameras for planetology
  • Hendrik Emerson (2017): Master thesis about Softwareengineering
  • Fanta Camara (2017): Internship for On-Orbit-Servicing
  • Sabine Weiß (2016-2017): Internship and student trainee for On-Orbit-Servicing
  • Rachit Kumar (2015): Master thesis about Automatic Radiometric Improvement of Moon Images for Shadow Segmentation
  • Hannah Lehner (nee Kaufmann) (2013-2014): Master thesis about Shadow-based matching for robust absolute localization during lunar landings

Open Positions

Sorry, no open positions at the moment.

Internships and final thesis

If you can't find an open position here but you are interested in an internship or a master thesis within my field of research, please send a speculative application via the DLR job portal: http://www.dlr.de/dlr/jobs/en/desktopdefault.aspx/tabid-10623/1063_read-3508/

Indicate that your application is addressed to me. There is a comment field in the online application form that you can use for this purpose. By that you make sure, that I'll receive your documents.

Please note, that I can only consider complete applications, i.e. that contain

  • a cover letter which clearly states the topics you are interested in, your motivation, your start date and the possible duration of your stay
  • your CV
  • your credentials, i.e. university transcripts and letters of recommendation

 

Zuletzt aktualisiert: Dienstag, 02. Juli 2019 von Martin Lingenauber