Publications

2022

1. Learning an Airway Atlas from Lung CT Using Semantic Inter-patient Deformable Registration

   Fenja Falta, Lasse Hansen,  Marian Himstedt, and Mattias P. Heinrich

   In Bildverarbeitung für die Medizin 2022 2022

   Abs

   Pulmonary image analysis for diagnostic and interventions often relies on a canonical geometric representation of lung anatomy across a patient cohort. Bronchoscopy can benefit from simulating an appearance atlas of airway crosssections, intra-patient deformable image registration could be initialised using a shared lung atlas. The diagnosis of pneumonia, COPD and other respiratory diseases can benefit from a well defined anatomical reference space. Previous work to create lung atlases either relied on tedious and often ambiguous manual landmark correspondences and/or image features to perform deformable interpatient registration. In this work, we overcome these limitations by guiding the registration with semantic airway features that can be obtained straightforwardly with an nnUNet and dilated training labels. We demonstrate that accurate and robust registration results across patients can be achieved in few seconds leading to high agreement of small airways of later generations. Incorporating the semantic cost function improves segmentation overlap and landmark accuracy.

2. Weakly Supervised Airway Orifice Segmentation in Video Bronchoscopy

   Ron Keuth, Mattias Heinrich, Martin Eichenlaub, and Marian Himstedt

   arXiv preprint arXiv:2208.11468 2022
3. Learn2Trust: A video and streamlit-based educational programme for AI-based medical image analysis targeted towards medical students

   Hanna Siebert,  Marian Himstedt, and Mattias Heinrich

   arXiv preprint arXiv:2208.07314 2022
4. Automatic Generation of Synthetic Colonoscopy Videos for Domain Randomization

   Abhishek Dinkar Jagtap, Mattias Heinrich, and Marian Himstedt

   Current Directions in Biomedical Engineering 2022

2021

1. IJCARS

   DRR to C-arm X-ray image translation with application to trauma surgery

   Marian Himstedt, Stephanie Häger, Stefan Heldmann, Andreas Petersik, Erich Zähringer, Heiko Gottschling, Manuel Schröder, Thomas Lieth, and Jan Modersitzki

   International Journal of Computer Assisted Radiology and Surgery, Supplementals (with CARS presentation) 2021

2019

1. ICCR

   Deformable image registration using structure guidance for dose accumulation

   Marian Himstedt, Alexander Derksen, Nils Papenberg, Jonas Honegger, Benjamin Haas, Tomasz Morgas, Nikola Cihoric, Supriya Chopra, Akshay Mangaj, and Jamema Swamidas

   In International Conference on the Use of Computers in Radiation Therapy (ICCR) 2019
2. Patent

   Method and apparatus for supplementing an electronically usable representation of an environment

   Christoph Hansen, Jörg Röwekämper, and Marian Himstedt

   In European Patent No EP3534110A1, issued by SICK AG, Waldkirch, Germany Sep 2019

2018

1. ICARCV

   An autonomous forklift with 3d time-of-flight camera-based localization and navigation

   Ulrich Behrje,  Marian Himstedt, and Erik Maehle

   In International Conference on Control, Automation, Robotics and Vision (ICARCV) Sep 2018
2. IROS

   Autonomous Warehouse Navigation using 3D Time-of-Flight Cameras

   Marian Himstedt, Ulrich Behrje, and Erik Maehle

   In IROS Workshop on Robotics for logistics in warehouses and environments shared with humans Sep 2018
3. Thesis

   Himstedt, M. (2018). Robust Localization and Mapping in Changing Environments Using Semantic Perception. PhD thesis at University of Lübeck.

2017

1. IJARS

   Online semantic mapping of logistic environments using RGB-D cameras

   Marian Himstedt, and Erik Maehle

   International Journal of Advanced Robotic Systems Sep 2017
2. ECMR

   Semantic Monte-Carlo Localization in Changing environments using RGB-D Cameras

   Marian Himstedt, and Erik Maehle

   In European Conference on Mobile Robotics Sep 2017

2016

1. ISR

   Camera-based obstacle classification for automated reach trucks using deep learning

   Marian Himstedt, and Erik Maehle

   In International Symposium on Robotics (ISR) Sep 2016

2015

1. ECMR

   Geometry matters: Place recognition in 2D range scans using Geometrical Surface Relations

   Marian Himstedt, and Erik Maehle

   In European Conference on Mobile Robots (ECMR) Sep 2015

2014

1. WSOM

   Some room for GLVQ: semantic labeling of occupancy grid maps

   Sven Hellbach,  Marian Himstedt, Frank Bahrmann, Martin Riedel, Thomas Villmann, and Hans-Joachim Böhme

   In European Conference on Mobile Robots (ECMR) Sep 2014
2. ICONIP

   Find rooms for improvement: Towards semi-automatic labeling of occupancy grid maps

   Sven Hellbach,  Marian Himstedt, Frank Bahrmann, Martin Riedel, Thomas Villmann, and Hans-Joachim Böhme

   In International Conference on Neural Information Processing Sep 2014
3. IROS

   Large scale place recognition in 2D LIDAR scans using geometrical landmark relations

   Marian Himstedt, Jan Frost, Sven Hellbach, Hans-Joachim Böhme, and Erik Maehle

   In IEEE/RSJ International Conference on Intelligent Robots and Systems Sep 2014

2013

1. ICRA

   A robust graph-based framework for building precise maps from laser range scans

   Marian Himstedt, Sabrina Keil, Sven Hellbach, and Hans-Joachim Böhme

   In ICRA Workshop on Robust and Multimodal Inference in Factor Graphs Sep 2013
2. ECMR

   Awakening history: Preparing a museum tour guide robot for augmenting exhibits

   Marc Donner,  Marian Himstedt, Sven Hellbach, and Hans-Joachim Böhme

   In European Conference on Mobile Robots Sep 2013
3. ECMR

   What’s around me: Towards non-negative matrix factorization based localization

   Sven Hellbach,  Marian Himstedt, and Hans-Joachim Böhme

   In European Conference on Mobile Robots Sep 2013
4. NC2

   Learning as an essential ingredient for a tour guide robot

   Sven Hellbach, Frank Bahrmann, Marc Donner,  Marian Himstedt, Mathias Klingner, Johannes Fonfara, Peter Poschmann, Richard Schmidt, and Hans-Joachim Böhme

   In Workshop New Challenges in Neural Computation Sep 2013

2012

1. IROS

   Towards robust vision-based self-localization of vehicles in dense urban environments

   Marian Himstedt, Alen Alempijevic, Liang Zhao, Shoudong Huang, and Hans-Joachim Böhme

   In IEEE/RSJ International Conference on Intelligent Robots and Systems Sep 2012
2. KI

   Assistance Robotics: A Survival Guide for Real World Scenarios

   Hans-Joachim Böhme, Sven Hellbach, Frank Bahrmann, Marc Donner, Johannes Fonfara,  Marian Himstedt, Mathias Klingner, Peter Poschmann, Mathias Rudolph, and Richard Schmidt

   In German Conference on Artificial Intelligence Sep 2012
3. Feature extraction from occupancy grid maps using non-negative matrix factorization

   Marian Himstedt, Sven Hellbach, and Hans-Joachim Böhme

   In Workshop New Challenges in Neural Computation Sep 2012

2010

1. Thesis

   Himstedt, M. (2010). Localization of autonomous ground vehicles in dense urban environments. Diploma thesis at University of Applied Sciences Dresden.