Benedikt Mersch

PhD Student
Contact:
Email: mersch@nulligg.uni-bonn.de
Tel: +49 – 228 – 73 – 27 11
Fax: +49 – 228 – 73 – 27 12
Office: Nussallee 15, 1. OG, room 1.012
Address:
University of Bonn
Photogrammetry, IGG
Nussallee 15
53115 Bonn

Profiles: Google Scholar | Github

Research Interests

  • Autonomous Driving
  • Behavior Estimation

Short CV

Benedikt Mersch is a Ph.D. student at the Photogrammetry & Robotics Lab at the University of Bonn since July 2020. He received his master’s degree in Electrical Engineering at the Hamburg University of Technology in December 2019.

Teaching

  • Techniques for Self-Driving Cars, 2021
  • Mobile Sensing and Robotics Project, 2020/2021
  • Techniques for Self-Driving Cars, 2020

Code releases

Publications

2022

  • I. Vizzo, B. Mersch, R. Marcuzzi, L. Wiesmann, J. and Behley, and C. Stachniss, “Make it Dense: Self-Supervised Geometric Scan Completion of Sparse 3D LiDAR Scans in Large Outdoor Environments,” IEEE Robotics and Automation Letters (RA-L), vol. 7, iss. 3, pp. 8534-8541, 2022. doi:10.1109/LRA.2022.3187255
    [BibTeX] [PDF] [Code] [Video]
    @article{vizzo2022ral,
    author = {I. Vizzo and B. Mersch and R. Marcuzzi and L. Wiesmann and and J. Behley and C. Stachniss},
    title = {Make it Dense: Self-Supervised Geometric Scan Completion of Sparse 3D LiDAR Scans in Large Outdoor Environments},
    journal = ral,
    url = {https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/vizzo2022ral-iros.pdf},
    codeurl = {https://github.com/PRBonn/make_it_dense},
    year = {2022},
    volume = {7},
    number = {3},
    pages = {8534-8541},
    doi = {10.1109/LRA.2022.3187255},
    videourl = {https://youtu.be/NVjURcArHn8},
    }

  • B. Mersch, X. Chen, I. Vizzo, L. Nunes, J. Behley, and C. Stachniss, “Receding Moving Object Segmentation in 3D LiDAR Data Using Sparse 4D Convolutions,” IEEE Robotics and Automation Letters (RA-L), vol. 7, iss. 3, p. 7503–7510, 2022. doi:10.1109/LRA.2022.3183245
    [BibTeX] [PDF] [Code] [Video]
    @article{mersch2022ral,
    author = {B. Mersch and X. Chen and I. Vizzo and L. Nunes and J. Behley and C. Stachniss},
    title = {{Receding Moving Object Segmentation in 3D LiDAR Data Using Sparse 4D Convolutions}},
    journal = ral,
    year = 2022,
    url = {https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/mersch2022ral.pdf},
    volume = {7},
    number = {3},
    pages = {7503--7510},
    doi = {10.1109/LRA.2022.3183245},
    codeurl = {https://github.com/PRBonn/4DMOS},
    videourl = {https://youtu.be/5aWew6caPNQ},
    }

  • X. Chen, B. Mersch, L. Nunes, R. Marcuzzi, I. Vizzo, J. Behley, and C. Stachniss, “Automatic Labeling to Generate Training Data for Online LiDAR-Based Moving Object Segmentation,” IEEE Robotics and Automation Letters (RA-L), vol. 7, iss. 3, pp. 6107-6114, 2022. doi:10.1109/LRA.2022.3166544
    [BibTeX] [PDF] [Code]
    @article{chen2022ral,
    author = {X. Chen and B. Mersch and L. Nunes and R. Marcuzzi and I. Vizzo and J. Behley and C. Stachniss},
    title = {{Automatic Labeling to Generate Training Data for Online LiDAR-Based Moving Object Segmentation}},
    journal = {IEEE Robotics and Automation Letters (RA-L)},
    year = 2022,
    volume = 7,
    number = 3,
    pages = {6107-6114},
    url = {http://arxiv.org/pdf/2201.04501},
    issn = {2377-3766},
    doi = {10.1109/LRA.2022.3166544},
    codeurl = {https://github.com/PRBonn/auto-mos},
    }

2021

  • B. Mersch, X. Chen, J. Behley, and C. Stachniss, “Self-supervised Point Cloud Prediction Using 3D Spatio-temporal Convolutional Networks,” in Proc. of the Conf. on Robot Learning (CoRL), 2021.
    [BibTeX] [PDF] [Code] [Video]
    @InProceedings{mersch2021corl,
    author = {B. Mersch and X. Chen and J. Behley and C. Stachniss},
    title = {{Self-supervised Point Cloud Prediction Using 3D Spatio-temporal Convolutional Networks}},
    booktitle = corl,
    year = {2021},
    url = {https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/mersch2021corl.pdf},
    codeurl = {https://github.com/PRBonn/point-cloud-prediction},
    videourl = {https://youtu.be/-pSZpPgFAso},
    }

  • B. Mersch, T. Höllen, K. Zhao, C. Stachniss, and R. Roscher, “Maneuver-based Trajectory Prediction for Self-driving Cars Using Spatio-temporal Convolutional Networks,” in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2021.
    [BibTeX] [PDF] [Video]
    @inproceedings{mersch2021iros,
    title = {{Maneuver-based Trajectory Prediction for Self-driving Cars Using Spatio-temporal Convolutional Networks}},
    author = {B. Mersch and T. H\"ollen and K. Zhao and C. Stachniss and R. Roscher},
    booktitle = iros,
    year = {2021},
    videourl = {https://youtu.be/5RRGWUn4qAw},
    url = {http://www.ipb.uni-bonn.de/pdfs/mersch2021iros.pdf}
    }

  • X. Chen, S. Li, B. Mersch, L. Wiesmann, J. Gall, J. Behley, and C. Stachniss, “Moving Object Segmentation in 3D LiDAR Data: A Learning-based Approach Exploiting Sequential Data,” IEEE Robotics and Automation Letters (RA-L), vol. 6, pp. 6529-6536, 2021. doi:10.1109/LRA.2021.3093567
    [BibTeX] [PDF] [Code] [Video]
    @article{chen2021ral,
    title={{Moving Object Segmentation in 3D LiDAR Data: A Learning-based Approach Exploiting Sequential Data}},
    author={X. Chen and S. Li and B. Mersch and L. Wiesmann and J. Gall and J. Behley and C. Stachniss},
    year={2021},
    volume=6,
    issue=4,
    pages={6529-6536},
    journal=ral,
    url = {http://www.ipb.uni-bonn.de/pdfs/chen2021ral-iros.pdf},
    codeurl = {https://github.com/PRBonn/LiDAR-MOS},
    videourl = {https://youtu.be/NHvsYhk4dhw},
    doi = {10.1109/LRA.2021.3093567},
    issn = {2377-3766},
    }