Arne Petersen

Dipl. Inf. Arne Petersen

Focus of research

The focus of my research is on designing and optimizing linear estimators (Kalman Filter, Gauss-Markov- and Gauss-Helmert-Models), i.e. for multi-sensor navigation purposes. This includes the statistical analysis of the derived estimators with regard to the quality of the estimated parameters as well as their uncertainty.
Currently I'm designing a SLAM system, using stereo vision and inertial sensors. The task is to optimize the system models used in an Iterated Kalman Filter, with regard to linearity and error modelling. Therefore new state parametrizations and tools for statistical analysis are developed. By this, the filter is optimized to increase the long term stability, consistency and quality of the estimated parameters and their uncertainty.
In the past, I was involved in a joint venture project, aiming at the development of a commercial navigation system. Multiple sensors were used, to gain comprehensive information of the systems navigation state. The project ended successfully in 2010.
Since end of 2010 I take part in the research project "MoSES", as a joint venture with "IBAK Helmut Hunger GmbH & Co. KG". The objective is to develop a modular software framework, that allows for multi-sensor data fusion.


In the past I supported Prof. Dr.-Ing. Koch in lecturing multimedia communications. This lecture is especially designed for the international degree program digital communications. It deals with analyzing visual as well as aural perception, i.e. for signal-compression (MP3, JPEG etc.).
Beside that, I've supervised various bachelor- and master/diploma-thesis’s.



Arne Petersen, Reinhard Koch:
Video-based realtime IMU-camera Calibration for Robot Navigation
Proceedings of SPIE , Real-Time Image and Video Processing 2012, 843706 (June 1, 2012); doi:10.1117/12.924066
April 2012, Brussels, Belgium; BibTex

Arne Petersen, Reinhard Koch:
A Novel State Parametrization for Stereo SLAM (pdf 400KB)
Proceedings of VisApp 2012, February 2012, Rom, Italy; BibTex


Arne Petersen, Marc-Andre Beyer (Raytheon Anschütz GmbH, Kiel):
Partitioned Covariance Intersection (pdf 514.6KB)
Proceedings of ISIS2011, September 2011, Hamburg, Germany; BibTex


Arne Petersen, Reinhard Koch:
Statistical Analysis of Kalman Filters by Conversion to Gauss-Helmert Models with Applications to Process Noise Estimation (pdf 127.81 Kb)
Proceedings of ICPR2010, August 2010, Istanbul, Turkey; BibTex


Jan-Friso Evers-Senne, Ingo Schiller, Arne Petersen, and Reinhard Koch:
"A Mobile Augmented Reality System with Distributed Tracking"
Proceedings of 3DPVT ,June 2006, Chapel Hill, NC, USA BibTeX

Created by admin. Last Modification: Wednesday 01 of February, 2017 11:04:46 CET by sandro.