rmc logo

Staff

2014-10-12_martin_lingenauber_portrait_masked_gradient.jpg

Martin Lingenauber

DLR German Aerospace Center
Institute of Robotics and Mechatronics
Perception and Cognition
Oberpfaffenhofen
Muenchener Str. 20
82234 Wessling

telephone: +49 8153 28-1595
email: Martin Lingenauber

 

I'm a researcher and project leader 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, mostly with a focus on new sensor concepts, such as light field cameras a.k.a. plenoptic cameras, and depth perception. Besides my research, I'm also interested in software engineering topics for research and I like creating or enhancing experimental setups. 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 open positions at the bottom of this page.

1 Research interests

  • Plenoptic cameras and light field data processing
  • Robot vision for space robotics
  • On-orbit servicing and planetary exploration
  • Autonomous vision based localization
  • Experimental setups for robotics
  • Software engineering

2 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

3 Achievements

  • Plenoptic cameras for exploration and robotics (since 2020): With project LiPER (Light field Processing for planetary Exploration and Robotics), I lead the first project that specifically investigates plenoptic cameras and light field processing for (space) robotics.
  • Plenoptic cameras for planetary exploration (2017 - 2019): 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://elib.dlr.de/97110/, patent DE 10 2014 108 873 B4)

4 Projects

4.1 HoviTron (2020 ongoing)

Function: Co-project leader and light field camera expert

HoviTron (Holographic Vision for Immersive Tele-Robotic Operation) is a EU-funded project to develop and test a first of its kind truly 3D light field vision system combining light field image capture and light field head-mounted display (HMD). This system will support holographic vision for a more immersive and efficient remote control in telerobotic applications.

4.2 LiPER (2020 ongoing)

Function: Project leader and researcher

LiPER (Light field Processing for planetary Exploration and Robotics) is a project to investigate and develop light field processing and plenoptic cameras further. The projects is the first to investigate the light field camera technology from the perspective of robotic applications, on earth as well as in space.

4.3 LIPA (2017 - 2019)

Function: Project leader and researcher

LIPA (Light field cameras for In-situ Planetology and Astrobiology) was a project to investigate the usability of light field cameras for future planetary exploration missions. Light field cameras are envisioned to provide enhanced in-situ imaging capabilities. We were able to show that light field cameras are a valuable alternative to conventional cameras for this use case.

4.4 InFuse (2016 - 2019)

Function: Engineer for on-orbit servicing topics

InFuse was 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).

4.5 ATON (2011-2017)

Function: Workpackage leader and researcher

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

I was responsible for the 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 3-D matching algorithm
  • absolute self-localization with the Binary Shadow Matching algorithm

4.6 DEOS (2014)

Function: Test engineer

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

I was responsible to lead a small team of experts in order to test computer vision algorithms for on-orbit servicing. We created a laboratory that allowed us to show the performance of our vision based tracking algorithm with real data. The laboratory and the data set is described in our paper A Dataset to Support and Benchmark Computer Vision Development for Close Range On-Orbit Servicing ([C05]).

5 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://elib.dlr.de/128229/
  • [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, France. https://elib.dlr.de/120145/
  • [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/
  • [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/
  • [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/
  • [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/
  • [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/
  • [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/
  • [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

6 Datasets

6.1 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

6.2 High resolution DEMs of lunar landing sites

A set of 5 high resolution Digital Elevation Models (DEM) 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 ([C03]).

7 Students

  • Dominic Seyfert (2018-2019): Bachelor thesis on plenoptic cameras for planetology
  • Hendrik Emerson (2017): Master thesis about Lean software architecture
  • 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

8 Open Positions

Sorry, no open positions at the moment.

8.1 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

 

Last updated on Tuesday, 30 March 2021 by Martin Lingenauber