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Sie sind hier: Startseite Team Wissenschaftliche Mitarbeiterinnen und Mitarbeiter Dr. rer.nat. Lasse Klingbeil

Dr. rer.nat. Lasse Klingbeil

Teamleader "GNSS and kinematic multi-sensor systems"

Institut für Geodäsie und Geoinformation
Professur für Geodäsie

Teaching
  • Bachelor thesis (6. semester BSc Geodesy and Geoinformation)
  • Master projects (2.+3. semester MSc Geodesy and Geoinformation)
  • Master thesis (4. semester MSc Geodesy and Geoinformation)
  • Mandatory selective modules (1.-3. semester MSc Crop Science)
Research Interests
  • Sensors and Systems
  • Recursive Bayesian Estimation
  • Localization of Moving Objects 
  • Sensor Networks 
  • Indoor Localization
  • Prescision Agriculture 
Projects
Curriculum Vitae
  • since 01/2012
    Research Scientist at Universität Bonn,
    Institute of Geodesy and Geoinformation
  • 04/2008 - 12/2011
    Research Scientist at the Hahn-Schickard-Gesellschaft e.V., 
    Institute of Microsystems and Information Technology (HSG-IMIT),
    Villingen-Schwenningen, Germany
  • 03/2006 - 02/2008
    Postdoctoral Fellow at the Commonwealth Scientific and Industrial Research Organisation (CSIRO)
    Autonomous System Lab
    Brisbane, Australia
  • 02/2006
    Dissertation Experimentalphysik, Universität Bonn
    "Development of a modular and scalable sensor system for the estimation of position and orientation of moving objects"
  • 07/2001 - 02/2006
    Research Assistant at Universität Bonn,
    Physics Institute,
    Detectors and Microelectronics Lab
  • 07/2001
    Diplom Experimentalphysik, Universität Bonn 
    "Development of test systems for pixel detectors for the ATLAS experiment (LHC@CERN)" 
Publications

Dissertation

  • Klingbeil, L. (2006). Entwicklung eines modularen und skalierbaren Sensorsystems zur Erfassung von Position und Orientierung bewegter Objekte. PhD Thesis, Universitäts-und Landesbibliothek Bonn

Book Chapter

  • Kuhlmann, H. & Klingbeil, L. (2016).  Mobile Multisensorsysteme. Freeden, W. & Rummel, R. (Eds.). Handbuch der Geodäsie: 5 Bände, Springer Berlin Heidelberg, 1-36, doi: 10.1007/978-3-662-46900-2_20-1

Peer Reviewed Journal Articles

2017

  • Kicherer, A.; Herzog, K.; Bendel, N.; Klück, H.-C.; Backhaus, A.; Wieland, M.; Rose, J.C.; Klingbeil, L.; Läbe, T.; Hohl, C.; Petry, W.; Kuhlmann, H.; Seiffert, U.; Töpfer, R. (2017): Phenoliner: A New Field Phenotyping Platform for Grapevine ResearchSensors 201717, 1625, http://www.mdpi.com/1424-8220/17/7/1625
  • Klingbeil, L.; Eling, C.; Heinz, E.; Wieland, M. & Kuhlmann, H. (2017): Direct Georeferencing for Portable Mapping Systems: In the Air and on the Ground. Journal of Surveying Engineering, American Society of Civil Engineers (ASCE), 2017, 143, 04017010, doi10.1061/(ASCE)SU.1943-5428.0000229 
  • Eichel, J., Draebing, D., Klingbeil, L., Wieland, M., Eling, C., Schmidtlein, S., Kuhlmann, H., and Dikau, R. (2017): Solifluction meets vegetation: the role of biogeomorphic feedbacks for turf-banked solifluction lobe development. Earth Surf. Process. Landforms, doi: 10.1002/esp.4102

2016

  • Rose, J.C.; Kicherer, A.; Wieland, M.; Klingbeil, L.; Töpfer, R.; Kuhlmann, H.(2016): Towards Automated Large-Scale 3D Phenotyping of Vineyards under Field Conditions. Sensors 2016, 16, 2136, http://www.mdpi.com/1424-8220/16/12/2136

2015

  • Heinz, E.; Eling, C.; Wieland, M.; Klingbeil, L.; Kuhlmann, H. (2015): Development, Calibration and Evaluation of a Portable and Direct Georeferenced Laser Scanning System for Kinematic 3D Mapping, Journal of Applied Geodesy, 9 (4), p 227
  • Eling, C.; Klingbeil, L.; Kuhlmann H. (2015): Real-Time Single-Frequency GPS/MEMS-IMU Attitude Determination of Lightweight UAVs. Sensors 2015, 15, 26212-26235.http://www.mdpi.com/1424-8220/15/10/26212

2014

  • Schopp, P.; Graf, H.; Maurer, M.; Romanovas, M.; Klingbeil, L. & Manoli, Y. (2014): Observing Relative Motion With Three Accelerometer Triads. IEEE Transactions on Instrumentation and Measurement. Vol.63, no.12, pp.3137-3151, doi: 10.1109/TIM.2014.2327472 
  • Eling, C.; Klingbeil, L.; Wieland, M. & Kuhlmann, H. (2014): Direct Georeferencing of Micro Aerial Vehicles - System Design, System Calibration and First Evaluation Tests. PFG - Photogrammetrie, Fernerkundung, Geoinformation.
  • Eling, C.; Klingbeil, L.; Kuhlmann, H. (2014): Development of an RTK-GPS system for the direct georeferencing of UAVs. Geomatik Schweiz 6/2014, 112. Jahrgang, 264-267
  • Klingbeil, L.; Eling, C.; Zimmermann, F. & Kuhlmann, H. (2014)Magnetic Field Sensor Calibration for Attitude Determination. Journal of Applied Geodesy. , Band 8, Heft 2, ISSN (Online) 1862-9024, ISSN (Print) 1862-9016, DOI: 10.1515/jag-2014-0003, 97 -108
  • Klingbeil, L. and  Kuhlmann, H. (2014): Sensoren für kinematische Anwendungen. Allgemeine Vermessungsnachrichten, 5/2014, Wichmann Verlag, Berlin, 186-191
  • Romanovas,, M.; Traechtler, M.; ,Klingbeil, L.,; Manoli, Y. (2014): On fractional models for human motion tracking, Journal of Vibration and ControlMay 2014, 20:186-997, SAGE publications, first published on June 26, 2013, DOI: 10.1177/1077546313479637

2012

  • Klingbeil, L. and Romanovas, M. (2012). Rekursive Bayesische Schätzverfahren zur Lokalisierung von Personen innerhalb von Gebäuden. Zeitschrift für Vermessungswesen, 137(6/2012):365–376

2010

  • Schopp, P., Klingbeil, L., Peters, C., and Manoli, Y. (2010). Design, geometry evaluation, and calibration of a gyroscope-free inertial measurement unit. Sensors and Actuators A: Physical, 162(2):379–387

2009

    • Romanovas, M., Klingbeil, L., Traechtler, M., and Manoli, Y. (2009). Application of fractional sensor fusion algorithms for inertial mems sensing. Mathematical Modelling and Analysis, 14(2):199–209

    2010

    • Aad, G., Ackers, M., Alberti, F., Aleppo, M., Alimonti, G., Alonso, J., Anderssen, E., Andreani, A., Andreazza, A., Arguin, J., et al. (2008). Atlas pixel detector electronics and sensors. Journal of Instrumentation, 3:P07007

      2007

      •  Wark, T., Corke, P., Sikka, P., Klingbeil, L., Guo, Y., Crossman, C., Valencia, P., Swain, D., and Bishop-Hurley, G. (2007). Transforming agriculture through pervasive wireless sensor networks. Pervasive Computing, IEEE, 6(2):50

      2002

      • Treis, J., Fischer, P., Krüger, H., Klingbeil, L., Lari, T., and Wermes, N. (2002). A modular pc based silicon microstrip beam telescope with high speed data acquisition. Nuclear Instruments and Methods in Physics Research Section A: Accelerators, Spectrometers, Detectors and Associated Equipment, 490(1):112–123

      Peer Reviewed Conference and Workshop Articles

      2017

      • Zimmermann, F.; Eling, C.; Klingbeil, L. & Kuhlmann, H. (2017): Precise Positioning of UAVs - Dealing with Challenging      RTK-GPS Measurement Conditions during Aautomated UAV Flights. ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences,
      • Heinz, E.; Eling, C.; Wieland, M.; Klingbeil, L.; Kuhlmann, H. (2017) Analysis of Different Reference Plane Setups for the Calibration of a Mobile Laser Scanning System, In: Lienhart, W. (Hrsg.): Ingenieurvermessung 17, Beiträge zum 18. Internationalen Ingenieurvermessungskurs, Graz, Austria, pp 131-146, Wichmann Verlag.
      • Lammers, P.; Schmittmann, O.; Klingbeil, L.; Wieland, M.; Kuhlmann, H. (2017): Coordinate controlled placement of sugar beet seeds. Proceedings of the 45th International Symposium on Agricultural Engineering, Actual Tasks on Agricultural Engineering, 21-24 February 2017, Opatija, Croatia, 293-301.

      2016

      • Eling, C., Klingbeil, L., Wieland, M., Kuhlmann, H. (2016) Towards deformation monitoring with UAV-based mobile mapping systems. 3rd International Symposium on Deformation Monitoring (JISDM), Vienna, Austria. https://www.fig.net/resources/proceedings/2016/2016_03_jisdm_pdf/reviewed/JISDM_2016_submission_21.pdf
      • J. Schneider, C. Eling, L. Klingbeil, H. Kuhlmann, W. Förstner, and C. Stachniss (2016). Fast and Effective Online Pose Estimation and Mapping for UAVs. Proceedings of the IEEE Int. Conf. on Robotics & Automation (ICRA) , 2016, pp. 4784-4791.doi:10.1109/ICRA.2016.7487682

      2015

      2014

      • Klingbeil, L.; Nieuwenhuisen, M.; Schneider, J.; Eling, C.; Droeschel, D.; Holz, D.; Läbe, T.; Förstner, W.; Behnke, S. & Kuhlmann, H. (2014): Towards Autonomous Navigation of an UAV-based Mobile Mapping System. In: Proceedings of the 4th International Conference on Machine Control & Guidance, 2014, 136-147, url: http://www.digibib.tu-bs.de/?docid=00056119

      • Klingbeil, L.; Romanovas, M. (2014) Hybride Verfahren zur Indoor-Lokalisierung, In: Kolbe/Bill/Donaubauer (Hrsg.): Geoinformationssysteme 2014, Beiträge zur 1. Münchner GI-Runde, S. 85-96, Wichmann Verlag, Berlin, ISBN 978-3-87907-537-9

      • Eling, C.; Klingbeil, L.; Kuhlmann, H. (2014) Development of an RTK-GPS System for Precise Real-time Positioning of Lightweight UAVs, In: Wieser, A. (Hrsg.): Ingenieurvermessung 14, Beiträge zum 17. Internationalen Ingenieurvermessungskurs, Zürich, 2014, S. 111-123, Wichmann Verlag, Berlin, 2014

      2013

      • Eling, C., Klingbeil, L., Wieland, M., and Kuhlmann, H. (2013). A precise position and attitude determination system for leightweight unmanned aerial vehicles. Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XL-1/W2, 113-118. 
      • Romanovas, M., Goridko, V., Klingbeil, L., Bourouah, M., Al-Jawad, A., and Traechtler, M. & Manoli, Y. (2013). Pedestrian indoor localization using foot mounted inertial sensors in combination with a magnetometer, a barometer and rfid. In Lecture Notes in Geoinformation and Cartography: Progress in Location based Services, pages 151–172. Springer

      2012

      • Romanovas, M., Goridko, V., Al-Jawad, A., Schwaab, M., Traechtler, M., Klingbeil, L., and Manoli, Y. (2012). A study on indoor pedestrian localization algorithms with foot-mounted sensors. In Indoor Positioning and Indoor Navigation (IPIN), 2012 International Conference on, pages 1–10. IEEE
      • Trapnauskas, J., Romanovas, M., Klingbeil, L., Al-Jawad, A., Traechtler, M., and Manoli, Y. (2012). On active sensing methods for localization scenarios with range-based measurements. In Multisensor Fusion and Integration for Intelligent Systems (MFI), 2012 IEEE Conference on, pages 344–351. IEEE
      • Romanovas, M., Trapnauskas, J., Klingbeil, L., Traechtler, M., and Manoli, Y. (2012). Localization scenario with active sensing for range measurements. In Positioning Navigation and Communication (WPNC), 2012 9th Workshop on, pages 151–156. IEEE

      2011

      • Romanovas, M., Klingbeil, L., Traechtler, M., and Manoli, Y. (2011). Explicit fractional model order estimation using unscented and ensemble kalman filters. In The Fifth Symposium on Fractional Derivatives and Their Applications (FDTA’11) as a part of the The Seventh ASME/IEEE International Conference on Mechatronics and Embedded Systems and Applications (ASME/IEEE MESA 2011)
      • Romanovas, M., Al-Jawad, A., Klingbeil, L., Traechtler, M., and Manoli, Y. (2011). Implicit fractional model order estimation using interacting multiple model kalman filters. In IFAC World Congress, volume 18, pages 7767–7772

      2010

      • Klingbeil, L., Romanovas, M., Schneider, P., Traechtler, M., and Manoli, Y. (2010). A modular and mobile system for indoor localization. In Indoor Positioning and Indoor Navigation (IPIN), 2010 International Conference on, pages 1–10. IEEE
      • Schopp, P., Rottmann, A., Klingbeil, L., Burgard, W., and Manoli, Y. (2010). Gaussian process based state estimation for a gyroscope-free imu. In Sensors, 2010 IEEE, pages 873–878. IEEE 
      • Klingbeil, L., Reiner, R., Romanovas, M., Traechtler, M., and Manoli, Y. (2010). Multi-modal sensor data and information fusion for localization in indoor environments. In Positioning Navigation and Communication (WPNC), 2010 7th Workshop on, pages 187–192. IEEE
      • Romanovas, M., Klingbeil, L., Traechtler, M., and Manoli, Y. (2010). Fractional model based kalman filters for angular rate estimation in vestibular systems. In Signal Processing (ICSP), 2010 IEEE 10th International Conference on, pages 1–4. IEEE

      2009

      • Romanovas, M., Klingbeil, L., Trachtler, M., and Manoli, Y. (2009). Efficient orientation estimation algorithm for low cost inertial and magnetic sensor systems. In Statistical Signal Processing, 2009. SSP’09. IEEE/SP 15th Workshop on, pages 586–589. IEEE
      • Schopp, P., Klingbeil, L., Peters, C., Buhmann, A., and Manoli, Y. (2009). Sensor fusion algorithmand calibration for a gyroscope-free imu. Procedia Chemistry, 1(1):1323 – 1326

      2008

      • Klingbeil, L. and Wark, T. (2008). A wireless sensor network for real-time indoor localisation and motion monitoring. In Information Processing in Sensor Networks, 2008. IPSN’08. International Conference on, pages 39–50. Ieee

      2007

      • Wark, T., Hu, W., Sikka, P., Klingbeil, L., Corke, P., Crossman, C., and Bishop-Hurley, G. (2007). A model-based routing protocol for a mobile, delay tolerant network. In Proceedings of the 5th international conference on Embedded networked sensor systems, pages 421–422. ACM
      • Klingbeil, L., Wark, T., and Bidargaddi, N. (2007). Efficient transfer of human motion data over a wireless delay tolerant network. In Intelligent Sensors, Sensor Networks and Information, 2007. ISSNIP 2007. 3rd International Conference on, pages 583–588. IEEE
      • Bidargaddi, N., Klingbeil, L., Sarela, A., Boyle, J., Cheung, V., Yelland, C., Karunanithi, M., and Gray, L. (2007). Wavelet based approach for posture transition estimation using a waist worn accelerometer. In Engineering in Medicine and Biology Society, 2007. EMBS 2007. 29th Annual International Conference of the IEEE, pages 1884–1887. IEEE
      • Bidargaddi, N., Sarela, A., Klingbeil, L., and Karunanithi, M. (2007). Detecting walking activity in cardiac rehabilitation by using accelerometer. In Intelligent Sensors, Sensor Networks and Information, 2007. ISSNIP 2007. 3rd International Conference on, pages 555–560. IEEE

      2003

      • Krüger, H., Klingbeil, L., Kraft, E., and Hamburger, R. (2003). Bluetrak-a wireless six degrees of freedom motion tracking system. In Proceedings of the 2nd IEEE/ACM International Symposium on Mixed and Augmented Reality, page 311. IEEE Computer Society

      Other Articles

      2017

      • Eling, C., Klingbeil, L., Kuhlmann, H. (2017) Von Low-Cost bis High-End: Anwendungspotenzial von OEM-GNSS-Boards, GNSS 2017 - Kompetenz für die Zukunft, Beiträge zum 157. DVW-Seminar, Potsdam, 21.-22. Februar 2017, pp. 173-190
      • Kicherer, A.; Herzog, K.; Klingbeil, L.; Seiffert, U. & Töpfer R. (2017): Herausforderungen der Feldphänotypisierung in der Rebenzüchtung. Bornimer Agrartechnische Berichte Heft 93, pp. 319-325, Leibniz Institut für Agrartechnik und Bioökonomik e.V.

      2016

      • Heinz, E.; Eling, C.; Wieland, M.; Klingbeil, L.; Kuhlmann, H. (2016) Development of a Portable Mobile Laser Scanning System with Special Focus on the System Calibration and Evaluation5th International Conference on Machine Control & Guidance (MCG), pp 1-8, October 5-6, 2016, Vichy, France.
      • Klingbeil, L.; Eling, C. & Kuhlmann, H. (2016): Zur Georeferenzierung von UAV Bildflügen: direkt oder indirekt, was braucht man dafür? Schriftenreihe des DVW, UAV 2016, Vemessung mit unbemannten Flugsystemen, Wißner-Verlag, 2016, 82, 119-134
      • Eling, C.; Klingbeil, L. & Kuhlmann, H. (2016): Warum UAVs und warum jetzt? Schriftenreihe des DVW, UAV 2016, Vemessung mit unbemannten Flugsystemen, Wißner-Verlag, 2016, 82, 9-30
      • Klingbeil L. (2016): Unbemannte Flugsysteme in der Landwirtschaft - Mehr als nur Spielerei? Gartenbau Profi, Monatszeitschrift für Obst, Gemüse und Zierpflanzen, 1/2016, 30-31 

      2015

      • Eling, C.; Klingbeil L.; Wieland, M.; Heinz, E.; Kuhlmann, H. (2015): UAV Real-Time: Data Use in a Lightweight Direct Georeferencing System. GPS World, November Issue, 44–49
      • Klingbeil, L. & Kuhlmann, H. (2015): Geodäsie in der Landwirtschaft, GeoNews 2/2015, Firmenzeitschrift der rmData GmbH.
      • Eling, C; Klingbeil, L. and Kuhlmann, H. (2015): A direct georeferencing system for real-time position and attitude determination of lightweight UAVs. FIG Working Week 2015, Sofia, Bulgaria, pp. 1-17

      2014

      • Klingbeil, L.; Lottes, P. & Kuhlmann, H. (2014): Laserscanning-Technologie auf sich bewegenden Platformen, Schriftenreihe des DVW, Terrestrisches Laserscanning 2014 (TLS 2014), Wißner Verlag, 2014, 78, 19-29
      • Klingbeil, L.; Eling, C. & Kuhlmann, H. (2014): Mobile Mapping aus der Luft - Direkte Georeferenzierung in Echtzeit, Schriftenreihe DVW, Multi-Sensor-Systeme - Bewegte Zukunftsfelder, Wißner-Verlag, 2014, 75, 115-126
      • Eling, C.; Heinz, E.; Klingbeil, L. & Kuhlmann, H. (2014): Cycle Slip Detection in the Context of RTK-GPS Positioning of Lightweight UAVs. Proceedings of the 4th International Conference on Machine Control & Guidance2014, url: http://www.digibib.tu-bs.de/?docid=00056119
      • Eling, C.; Klingbeil, L. & Kuhlmann, H. (2014): A precise direct georeferencing system for UAVs. Proceedings of the Workshop on UAV-basaed Remote Sensing Methods for Monitoring Vegetation. - Kölner Geographische Arbeiten, 2014, 94, 33-41 

      2012

      • Romanovas, M., Goridko, V., Klingbeil, L., Bourouah, M., Al-Jawad, A., Traechtler, M., and Manoli, Y. (2012). A system for pedestrian indoor localization with foot mounted imu and additional sensors. In Proceedings Symposium Gyro Technology, Karlsruhe

      2011

      • Al-Jawad, A., Romanovas, M., Klingbeil, L., Traechtler, M., Mergner, T., Fennell, L., and Manoli, Y. (2011). A system for orientation and acceleration estimation in an artificial vestibular system. In Proceedings MikroSytemTechnik Kongress 2012. VDE VERLAG GmbH

      2009

      • Klingbeil, L., Romanovas, M., Reiner, R., Traechtler, M., and Manoli, Y. (2009). Efficient quaternion attitude estimation algorithm for particle filter based localisation. In Proceedings Symposium Gyro Technology, Karlsruhe
      • Romanovas, M., Klingbeil, L., Reiner, R., Trächtler, M., Manoli, Y., Link, T., and Wierse, A. (2009). A low cost input device for virtual reality systems. In Proceedings MikroSytemTechnik Kongress 2009. VDE VERLAG GmbH

      2007

      • Corke, P., Dunbabin, M., Wark, T., Sikka, P., Hu, W., Abbot, D., Yu, K., Klingbeil, L., Sen, S., Valencia, P., et al. (2007). Csiro sensor and sensor networks research progress report july 2006 to june 2007

      Patents

      • Teroerde, S.; Romanovas, M. & Klingbeil, L (2013).  Probability based determination of a mode of actuation for an image stabilization device. US patent 20,130,194,666
      • Teroerde, S.; Romanovas, M. & Klingbeil, L (2012). Probability-based determination of a control mode for an image stabilization device. EP patent 20,130,150,708
      • Teroerde, S.; Romanovas, M. & Klingbeil, L (2012). Wahrscheinlichkeitsbasierte Bestimmung eines Ansteuerungsmodus für eine Bildstabilisierungseinrichtung. DE patent 201,210,000,861
      • Krüger, H., Fischer, P., Klingbeil, L., and Kraft, E. (2004). Triangulation system for measuring spatial positions, eg for determining the positions of users within a virtual reality system, wherein both user and reference units are equipped with ultrasound transmitters and receivers. DE Patent 10,310,857



       
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