@inproceedings{FiebelkornKugelGuentheretal.2025, author = {Fiebelkorn, Richard and Kugel, Rafael and G{\"u}nther, Norman and Reiff-Stephan, J{\"o}rg}, title = {Predictive Maintenance in der Baumpflege - TreeAngel}, series = {Tagungsband AALE 2025 : menschenzentrierte Automation im digitalen Zeitalter}, booktitle = {Tagungsband AALE 2025 : menschenzentrierte Automation im digitalen Zeitalter}, editor = {Reiff-Stephan, J{\"o}rg and J{\"a}kel, Jens and Reichelt, Dirk}, publisher = {Hochschule f{\"u}r Technik, Wirtschaft und Kultur}, address = {Leipzig}, url = {http://nbn-resolving.de/urn:nbn:de:kobv:526-opus4-20193}, pages = {251 -- 259}, year = {2025}, abstract = {Die Gew{\"a}hrleistung der Verkehrssicherheit von B{\"a}umen stellt eine zentrale Herausforderung f{\"u}r St{\"a}dte und Gemeinden dar. Traditionelle, manuelle Inspektionsmethoden sind zeit- und ressourcenintensiv sowie anf{\"a}llig f{\"u}r menschliche Fehler. Der folgende Artikel pr{\"a}sentiert ein innovatives System zur automatisierten Baumzustandsbewertung, welches moderne Kameratechnologien und K{\"u}nstliche Intelligenz (KI) nutzt. Im Rahmen einer Machbarkeitsstudie wurden Bilddaten, welche durch verschiedene Kamerasysteme erzeugt wurden, analysiert. Basierend auf diesen Daten wurde ein YOLOv8-Modell trainiert, welches eine pr{\"a}zise Detektion von B{\"a}umen und Sch{\"a}den, wie beispielsweise Totholz, erm{\"o}glicht. Die Ergebnisse des vorgestellten Prototypensystems sind vielversprechend hinsichtlich Genauigkeit und Effizienz. Es zeigt das Potenzial, manuelle Inspektionen durch automatisierte Verfahren zu erg{\"a}nzen oder zu ersetzen. Die pr{\"a}sentierten Resultate legen den Grundstein f{\"u}r nachhaltige und skalierbare Ans{\"a}tze in der Baumpflege und k{\"o}nnen zur Steigerung der {\"o}ffentlichen Sicherheit und Effizienz im urbanen Management beitragen.}, language = {de} } @inproceedings{FiebelkornKugelGuentheretal.2025, author = {Fiebelkorn, Richard and Kugel, Rafael and G{\"u}nther, Norman and Reiff-Stephan, J{\"o}rg}, title = {Predictive Maintenance in Tree Care - TreeAngel}, series = {Wildauer Konferenz f{\"u}r K{\"u}nstliche Intelligenz 2025 (WiKKI25)}, booktitle = {Wildauer Konferenz f{\"u}r K{\"u}nstliche Intelligenz 2025 (WiKKI25)}, editor = {Reiff-Stephan, J{\"o}rg and Beuster, Anja}, publisher = {TIB Open Publishing}, address = {Hannover}, url = {http://nbn-resolving.de/urn:nbn:de:kobv:526-opus4-20801}, year = {2025}, abstract = {Ensuring the traffic safety of trees poses a significant challenge for urban authorities. Conventional manual inspection methods are both time-consuming and resource-intensive, and they are subject to human error. The following paper presents an innovative system for automated tree condition assessment using modern camera technologies and artificial intelligence (AI). As part of a feasibility study, image data generated by various camera systems was analyzed. Based on this data, a YOLOv8 model was trained, which enables precise detection of trees and damage, such as deadwood. The results of the prototype system presented are promising in terms of accuracy and efficiency, suggesting the potential to supplement or replace manual spections with automated procedures. The results of this study lay the foundation for sustainable and scalable approaches in tree care and can contribute to increasing public safety and efficiency in urban management.}, language = {en} } @article{RotheBergerWelkeretal.2023, author = {Rothe, Felix and Berger, J{\"o}rn and Welker, Pia and Fiebelkorn, Richard and Kupper, Stefan and Kiesel, Denise and Gedat, Egbert and Ohrndorf, Sarah}, title = {Fluorescence optical imaging feature selection with machine learning for differential diagnosis of selected rheumatic diseases}, series = {Frontiers in Medicine}, volume = {10}, journal = {Frontiers in Medicine}, publisher = {Frontiers}, issn = {2296-858X}, url = {http://nbn-resolving.de/urn:nbn:de:kobv:526-opus4-17922}, year = {2023}, abstract = {Background and objective: Accurate and fast diagnosis of rheumatic diseases affecting the hands is essential for further treatment decisions. Fluorescence optical imaging (FOI) visualizes inflammation-induced impaired microcirculation by increasing signal intensity, resulting in different image features. This analysis aimed to find specific image features in FOI that might be important for accurately diagnosing different rheumatic diseases. Patients and methods: FOI images of the hands of patients with different types of rheumatic diseases, such as rheumatoid arthritis (RA), osteoarthritis (OA), and connective tissue diseases (CTD), were assessed in a reading of 20 different image features in three phases of the contrast agent dynamics, yielding 60 different features for each patient. The readings were analyzed for mutual differential diagnosis of the three diseases (One-vs-One) and each disease in all data (One-vs-Rest). In the first step, statistical tools and machine-learning-based methods were applied to reveal the importance rankings of the features, that is, to find features that contribute most to the model-based classification. In the second step machine learning with a stepwise increasing number of features was applied, sequentially adding at each step the most crucial remaining feature to extract a minimized subset that yields the highest diagnostic accuracy. Results: In total, n = 605 FOI of both hands were analyzed (n = 235 with RA, n = 229 with OA, and n = 141 with CTD). All classification problems showed maximum accuracy with a reduced set of image features. For RA-vs.-OA, five features were needed for high accuracy. For RA-vs.-CTD ten, OA-vs.-CTD sixteen, RA-vs.-Rest five, OA-vs.-Rest eleven, and CTD-vs-Rest fifteen, features were needed, respectively. For all problems, the final importance ranking of the features with respect to the contrast agent dynamics was determined. Conclusions: With the presented investigations, the set of features in FOI examinations relevant to the differential diagnosis of the selected rheumatic diseases could be remarkably reduced, providing helpful information for the physician.}, language = {en} } @inproceedings{VandenhoutenHermerschmidtFiebelkorn2017, author = {Vandenhouten, Ralf and Hermerschmidt, Andreas and Fiebelkorn, Richard}, title = {Design and quality metrics of point patterns for coded structured light illumination with diffractive optical elements in optical 3D sensors}, series = {Proceedings of SPIE}, volume = {10335}, booktitle = {Proceedings of SPIE}, issn = {1996-756X}, doi = {10.1117/12.2270248}, url = {http://nbn-resolving.de/urn:nbn:de:kobv:526-opus4-9798}, year = {2017}, abstract = {Structured light has become a widespread technique for the development of camera-based 3D sensors. The structured illumination provides texture to homogeneous objects and thus allows for the reliable determination of the disparity of each object point in a stereo-camera setting. Even a monocular 3D sensor is possible if the light projector has a fixed relative position to the camera and if the structured light is coded, i.e. the position within the whole light pattern can be reconstructed uniquely from a small local window of the pattern, the uniqueness window. Coded patterns with such a uniqueness property are called Perfect SubMaps (PSM). In our paper we focus on the design and evaluation of the subset of symmetric isolated binary toroidal PSMs (SIBTPSM) for structured light patterns, because of their beneficial properties with respect to the signal-to-noise ratio and the use with laser light sources and DOEs. We define several figures of merit that are relevant for the practical use of PSMs in a 3D sensor: the PSM size, the size of the uniqueness window, the Hamming distance, the density, and the homogeneity. We have created SIBTPSMs using our own dedicated algorithms and have designed and fabricated DOEs that produce these patterns with large fan angles of 61° × 47° when used with near-infrared diode lasers (λ = 830nm). We analyze the influence of these characteristics on the 3D measurement process by theory, simulations, and experiments. The patterns of publicly available DOEs based on SIBTPSMs are used for comparison and reference. Our results show that the PSM width, the uniqueness window size, the minimum and average Hamming distances, and the uniformity have strong impact on either speed or quality of the 3D reconstruction, whereas the point density and the PSM height are of minor importance.}, language = {en} } @inproceedings{PulwerFiebelkornZeschetal.2019, author = {Pulwer, Silvio and Fiebelkorn, Richard and Zesch, Christoph and Steglich, Patrick and Villringer, Claus and Villasmunta, Francesco and Gedat, Egbert and Handrich, Jan and Schrader, Sigurd and Vandenhouten, Ralf}, title = {Endoscopic orientation by multimodal data fusion}, series = {Proc. SPIE 10931, MOEMS and Miniaturized Systems XVIII}, booktitle = {Proc. SPIE 10931, MOEMS and Miniaturized Systems XVIII}, issn = {1996-756X}, url = {http://nbn-resolving.de/urn:nbn:de:kobv:526-opus4-11420}, year = {2019}, abstract = {To improve the feasibility of endoscopic inspection processes we developed a system that provides online information about position, orientation and viewing direction of endoscopes, to support the analysis of endoscopic images and to ease the operational handling of the equipment. The setup is based on an industrial endoscope consisting of a camera, various MEMS and multimodal data fusion. The software contains algorithms for feature and geometric structure recognition as well as Kalman filters. To track the distal end of the endoscope and to generate 3D point cloud data in real time the optical and photometrical characteristics of the system are registered and the movement of the endoscope is reconstructed by using image processing techniques.}, language = {en} } @misc{GedatFechnerFiebelkornetal.2018, author = {Gedat, Egbert and Fechner, Pascal and Fiebelkorn, Richard and Vandenhouten, Jan and Vandenhouten, Ralf}, title = {Image recognition of multi-perspective data for intelligent analysis of gestures and actions}, series = {Wissenschaftliche Beitr{\"a}ge 2018}, volume = {22}, journal = {Wissenschaftliche Beitr{\"a}ge 2018}, issn = {0949-8214}, doi = {10.15771/0949-8214_2018_3}, url = {http://nbn-resolving.de/urn:nbn:de:kobv:526-opus4-10230}, pages = {25 -- 30}, year = {2018}, abstract = {The BERMUDA project started in January 2015 and was successfully completed after less than three years in August 2017. A technical set-up and an image processing and analysis software were developed to record and evaluate multi-perspective videos. Based on two cameras, positioned relatively far from one another with tilted axes, synchronized videos were recorded in the laboratory and in real life. The evaluation comprised the background elimination, the body part classification, the clustering, the assignment to persons and eventually the reconstruction of the skeletons. Based on the skeletons, machine learning techniques were developed to recognize the poses of the persons and next for the actions performed. It was, for example, possible to detect the action of a punch, which is relevant in security issues, with a precision of 51.3 \% and a recall of 60.6 \%.}, language = {en} } @misc{GedatFechnerFiebelkornetal.2017, author = {Gedat, Egbert and Fechner, Pascal and Fiebelkorn, Richard and Vandenhouten, Ralf}, title = {Szenenanalyse und Unterscheidung der Skelette mehrerer Menschen in digitalen Bildern mit Graphentheorie durch eine k-k{\"u}rzeste-disjunkte-Wege-Suche}, series = {Wissenschaftliche Beitr{\"a}ge 2017}, volume = {21}, journal = {Wissenschaftliche Beitr{\"a}ge 2017}, issn = {0949-8214}, doi = {10.15771/0949-8214_2017_4}, url = {http://nbn-resolving.de/urn:nbn:de:kobv:526-opus4-9394}, pages = {31 -- 35}, year = {2017}, abstract = {Das Erkennen von Personen auf Fotos und in Videos geschieht in aktuellen Klassifizierungsverfahren durch die Zuordnung eines K{\"o}perteils zu jedem Pixel. Anschließend werden die gefundenen K{\"o}rperteile zu Skeletten zusammengefasst. Im Falle mehrerer abgebildeter Personen ergibt sich das Problem der Zuordnung der K{\"o}rperteile zu den verschiedenen Skeletten. Es wurde in dieser Arbeit ein auf dem Suurballe-Algorithmus basierendes graphentheoretisches Verfahren entwickelt, das diese Aufgabe l{\"o}st. Aufbauend auf im Wesentlichen abstandsabh{\"a}ngigen Kantengewichten wird eine k-k{\"u}rzeste-disjunkte-Wege-Suche durchgef{\"u}hrt. Unter Einbezug von m{\"o}glicherweise fehlenden K{\"o}rperteilen durch Unsichtbar-Knoten und automatisches Aussortieren zu viel gefundener K{\"o}rperteile werden so die k-optimalen Skelette gefunden. Die Methode wurde an idealisierten computergenerierten Bildern mit einer Trefferquote von 100 \% gefundener Personen getestet. Ein Test mit realen Bilddaten lieferte eine Trefferquote von 71,7 \%.}, language = {de} } @misc{VandenhoutenFiebelkornFunke2016, author = {Vandenhouten, Ralf and Fiebelkorn, Richard and Funke, Andrea}, title = {A Modular Mobile Device for Real-Time 3D Streaming}, series = {Wissenschaftliche Beitr{\"a}ge 2016}, volume = {20}, journal = {Wissenschaftliche Beitr{\"a}ge 2016}, issn = {0949-8214}, doi = {10.15771/0949-8214_2016_1_5}, url = {http://nbn-resolving.de/urn:nbn:de:kobv:526-opus4-5323}, pages = {37 -- 43}, year = {2016}, abstract = {In recent years, 3D movies and streaming films have become increasingly popular. Even mobile devices, such as mobile phones and tablet computers, are becoming more popular, more powerful and have better multimedia capabilities. Nevertheless, compact mobile devices to broadcast live 3D videos in real time are barely available. In this article, we provide a modular and mobile solution that allows 3D video streaming in real time at 25 frames per second and with a resolution of 1280 × 720 pixels (720p). As operating system, we use standard hardware components combined with Android. Furthermore, we will describe the restraints of the development, and how they were solved.}, language = {en} } @inproceedings{KupperFiebelkornStolpmannetal.2026, author = {Kupper, Stefan and Fiebelkorn, Richard and Stolpmann, Alexander and Reiff-Stephan, J{\"o}rg}, title = {Robuste Lokalisierung und Pfadplanung auf verschiedenen Gr{\"o}ßenskalen durch fraktale Landmarken}, series = {Tagungsband AALE 2026: Mechatronische Systeme f{\"u}r die Automatisierung: Fortschritt durch Pr{\"a}zision und Qualit{\"a}t}, booktitle = {Tagungsband AALE 2026: Mechatronische Systeme f{\"u}r die Automatisierung: Fortschritt durch Pr{\"a}zision und Qualit{\"a}t}, publisher = {Hochschule f{\"u}r Technik, Wirtschaft und Kultur Leipzig}, url = {http://nbn-resolving.de/urn:nbn:de:kobv:526-opus4-21370}, pages = {1 -- 10}, year = {2026}, abstract = {In diesem Beitrag wird der Einsatz fraktaler Landmarken zur kamerabasierten Bestimmung von Position und Orientierung einer autonomen robotischen Plattform untersucht. Die Plattform wird dabei innerhalb eines digitalen Zwillings in einem realit{\"a}tsnahen Szenario simuliert. Ziel ist die robuste und wiederholgenaue Verfolgung einer vom Anwender vorgegebenen Referenztrajektorie. Die in dieser Arbeit genutzen fraktalen Landmarken erm{\"o}glichen durch ihre multiskalige Struktur eine zuverl{\"a}ssige Detektion und Posenbestimmung {\"u}ber einen großen Entfernungsbereich hinweg und adressieren damit die Skalierungsprobleme konventioneller Landmarken. In Kombination mit einer splinebasierten Pfadplanung und einer echtzeitf{\"a}higen Simulation werden die Auswirkungen der Landmarkengeometrie, der Pfadf{\"u}hrung sowie von Bildrauschen auf die Lokalisierungsgenauigkeit analysiert. Die Ergebnisse zeigen, dass der vorgestellte Ansatz eine stabile Posenbestimmung entlang der geplanten Trajektorie erlaubt und sich insbesondere f{\"u}r Anwendungen mit variierenden Arbeitsabst{\"a}nden eignet.}, language = {de} }