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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

BSc Geodesy and Geoinformation
  • Global Navigation Satellite Systems (5. Semester)
  • Bachelor thesis (6. Semester)
MSc Geodesy and Geoinformation
  • Kinematic multi-sensor systems  (with Heiner Kuhlmann) (1. Semester)
  • Master project (with Cyrill Stachniss & Chris McCool) (2.+ 3. Semester)
  • Mandatory selective modules (2.+ 3. Semester)
  • Master thesis (4. Semester)
MSc Geodetic Engineering
  • Global Navigation Satellite Systems (1. Semester)
  • Mobile sensing and Robotics I: Sensors and state estimation (with Cyrill Stachniss) (1. Semester)
  • Mobile sensing and Robotics II: Advanced methods (with Cyrill Stachniss) (2. Semester)
  • Mandatory selective modules (2.+ 3. Semester)
  • Master thesis (4. Semester)
MSc Crop Science
  • Technology and Sensors in Crop Production (with Chis McCool & Uwe Rascher) (1. Semester) 
  • Mandatory selective modules (2.- 3. Semester)
Research Projects
  • Unmanned Aerial Vehicles in Environmental Sciences (
  • CropWatch - Information System for Process Control and Analysis in Crop Production
  • Mapping on Demand (MoD) - Pose Determination of Leightweight UAVs
  • NoviSys - Novel viticulture systems for sustainable production and products
  • Cluster of Excellence"PhenoRob - Robotics and Phenotyping for Sustainable Crop Production" (
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)" 


  • 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
  • Klingbeil, L. (2022). Georeferencing UAV measurements. A. Eltner, D. Hoffmeister, A. Kaiser, P. Karrasch, L. Klingbeil, C. Stöcker, A. Rovere (eds.). UAVs for the Environmental Sciences. wbg Academic, Darmstadt. Open Access Download 

Peer Reviewed Journal and Conference Articles


  • Zabawa L, Kicherer A, Klingbeil L, Töpfer R, Roscher R, Kuhlmann H (2022) Image-based analysis of yield parameters in viticulture, Biosystems Engineering, Vol. 218: 94-109
  • J. Knechtel, L. Klingbeil, J-H. Haunert, and Y. Dehbi (2022). Optimal position and path planning for stop-and-go laserscanning for the acquisition of 3d building models. ISPRS - International Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences. Accepted for publication (ISPRS Congress, Nice)


  • Dreier, A.; Janßen, J.; Kuhlmann, H.; Klingbeil, L. (2021). Quality Analysis of Direct Georeferencing in Aspects of Absolute Accuracy and Precision for a UAV-Based Laser Scanning System. Remote Sens. 2021, 13, 3564.
  • Schunck D, Magistri F, Rosu RA, Cornelißen A, Chebrolu N, Paulus S, Léon J, Behnke S Stachniss C, Kuhlmann H, Klingbeil L (2021). Pheno4D: A spatio-temporal dataset of maize and tomato plant point clouds for phenotyping and advanced plant analysis. PLoS ONE 16(8): e0256340.
  • Lucks, L., Haraké, L. & Klingbeil, L. (2021). Detektion von Weizenähren mithilfe neuronaler Netze und synthetisch erzeugter Trainingsdaten. tm - Technisches Messen, vol. , no. , 2021, pp. 000010151520210018.
  • Lucks, L., Klingbeil, L., Plümer, L., & Dehbi, Y. (2021). Improving trajectory estimation using 3D city models and kinematic point clouds. Transactions in GIS, tgis.12719.
  • Dreier, A.,Zimmermann, F., Klingbeil, L., Holst, Ch., Kuhlmann, H. (2021) Strategien zur Selektion von Satelliten in kinematischen GNSS-Anwendungen auf Basis von 3D-Umgebungsmodellen. Allgemeine Vermessungs-Nachrichten (AVN), 128 (2021) 1, S. 13-22, Wichmann Verlag, Berlin.


  • Li, G., Klingbeil, L., Zimmermann, F., Huang, S., & Kuhlmann, H. (2020). An integrated positioning and attitude determination system for immersed tunnel elements: A simulation study. Sensors (Switzerland), 20(24), 1–20.
  • Bömer J, Zabawa L, Sieren P, Kicherer A, Klingbeil L, Rascher U, Muller O, Kuhlmann H, Roscher R (2020). Automatic Differentiation of Damaged and Unharmed Grapes Using RGB Images and Convolutional Neural Networks. In: Bartoli A., Fusiello A. (eds) Computer Vision – ECCV 2020 Workshops. ECCV 2020. Lecture Notes in Computer Science, vol 12540. Springer, Cham.
  • Zabawa, L., Kicherer, A., Klingbeil, L., Töpfer, R., Kuhlmann, H., & Roscher, R. (2020). Counting of grapevine berries in images via semantic segmentation using convolutional neural networks. ISPRS Journal of Photogrammetry and Remote Sensing, 164, 73–83.
  • Andreas Honecker, Henrik Schumann, Diana Becirevic, Lasse Klingbeil, Kai Volland, Steffi Forberig, Marc Jansen, Hinrich Paulsen, Heiner Kuhlmann & Jens Léon (2020): Plant, space and time - linked together in an integrative and scalable data management system for phenomic approaches in agronomic field trials. Plant Methods 16, 55 (2020).
  • Eichel J, Draebing D, Kattenborn T, Senn JA, Klingbeil L, Wieland M, Heinz E  (2020) Unmanned aerial vehicle-based mapping of turf-banked solifluction lobe movement and its relation to material, geomorphometric, thermal and vegetation properties, Permafrost and Periglacial Processes 31(1): 97-109,
  • Heinz, E.; Holst, C.; Kuhlmann, H. Klingbeil, L. (2020). Design and Evaluation of a Permanently Installed Plane-Based Calibration Field for Mobile Laser Scanning Systems, Remote Sensing 2020, 12, 555,
  • Heinz, E.; Eling, C.; Klingbeil, L.; Kuhlmann, H. (2020). On the applicability of a scan-based mobile mapping system for monitoring the planarity and subsidence of road surfaces - Pilot study on the A44n motorway in Germany, Journal of Applied Geodesy, 14 (1), pp 39-54,
  • Y. Dehbi, L. Klingbeil, and L. Plümer (2020). Uav mission planning for automatic exploration and semantic mapping. ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, XLIII-B1-2020:521-526.


  • Youness Dehbi, Lukas Lucks, Jan Behmann, Lasse klingbeil, and Lutz Plümer (2019). Improving GPS trajectories using 3D city models and kinematic point clouds. ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., IV-4/W9, 35–42,, 2019. 
  • Lasse Klingbeil, Erik Heinz, Markus Wieland, Jana Eichel, Thomas Laebe, and Heiner Kuhlmann (2019). On the UAV based Analysis of Slow Geomorphological Processes: A Case Study at a Solifluction Lobe in the Turtmann Valley. Proceedings of the 4th Joint International Symposium on Deformation Monitoring (JISDM), Athens, Greece, 2019.
  • Laura Zabawa, Anna Kicherer, Lasse Klingbeil, Andres Milioto, Reinhard Töpfer, Heiner Kuhlmann and Ribana Roscher (2019). Detection of Single Grapevine Berries in Images Using Fully Convolutional Neural Networks. 2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW).
  • Becirevic D, Klingbeil L, Honecker A, Schumann H, Rascher U, Léon J, Kuhlmann H  (2019) On the derivation of crop heights from multitemporal UAV based imagery, ISPRS Ann Photogramm Remote Sens Spatial Inf Sci, IV-2/W5, 1-1,, 2019
  • Zimmermann, F., Schmitz, B., Klingbeil, L., Kuhlmann, H. (2019) GPS-Multipath Analysis using Fresnel-Zones, Sensors 2019, 19(1), 25,
  • Wilke, N.; Siegmann, B.; Klingbeil, L.; Burkart, A.; Kraska, T.; Muller, O.; van Doorn, A.; Heinemann, S.; Rascher, U. (2019). Quantifying Lodging Percentage and Lodging Severity Using a UAV-Based Canopy Height Model Combined with an Objective Threshold Approach. Remote Sens. 2019, 11, 515.


  • Zimmermann, F., Holst, C., Klingbeil, L. & Kuhlmann, H. (2018): Accurate georeferencing of TLS point clouds with short GNSS observation durations even under challenging measurement conditions. Journal of Applied Geodesydoi:10.1515/jag-2018-0013


  • 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,
  • 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
  • Holst, C., Klingbeil, L., Esser, F., Kuhlmann, H. (2017) Using point cloud comparisons for revealing deformations of natural and artificial objects, 7th International Conference on Engineering Surveying (INGEO), 18-20 October 2017, Lisbon, Portugal
  • 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.


  • 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,
  • 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.
  • 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


  • 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.
  • Eling, C; Wieland, M.; Hess, C.;Klingbeil, L. and Kuhlmann, H. (2015)Development and Evaluation of a UAV based Mapping System for Remote Sensing and Surveying Applications. In: Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XL-1/W4, 233-239, 2015,


  • 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
  • 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 & Guidance2014, 136-147, url:

  • 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


  • 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


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


  • 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


  • 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
  • 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
  • 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


    • 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
    • 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


    • 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


    •  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
    • 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


    • 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


    • 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

    Other Articles


    • Heinz E, Klingbeil L, Kuhlmann H (2020) Aufbau einer Einrichtung zur Kalibrierung und Evaluierung von Mobile-Mapping-Systemen, Ingenieurvermessung 20 : Beiträge zum 19. Internationalen Ingenieurvermessungskurs München, 2020. Thomas A. Wunderlich (Hrsg.) Heidelberg: Wichmann-Verlag, 2020. S. 113-126
    • Zimmermann F, Dreier A, Klingbeil L, Holst C, Kuhlmann H (2020) Weniger ist manchmal mehr - Strategien zur Selektion von Satelliten für präzise GNSS-Positionsbestimmungen unter schwierigen Messbedingungen, Ingenieurvermessung 20 : Beiträge zum 19. Internationalen Ingenieurvermessungskurs München, 2020. Thomas A. Wunderlich (Hrsg.) Heidelberg: Wichmann-Verlag, 2020. S. 177-190


    • Erik Heinz, Christian Eling, Lasse Klingbeil, and Heiner Kuhlmann (2019). Monitoring the planarity and subsidence of a motorway using kinematic laser scanning. Proceedings of the 4th Joint International Symposium on Deformation Monitoring (JISDM), Athens, Greece, 2019.
    • L. Zabawa, a. Kicherer, L. Klingbeil, A. Milioto, R. Roscher, R. Töpfer, H. Kuhlmann (2019): Detektion von Weintrauben mit Hilfe von Fully Convolutional Networks. Computer-Bildanalyse in der Landwirtschaft. In Bornimer Agrartechnische Berichte (102), pp 15-20.
    • J. Kierdorf, L. Zabawa, L. Lucks, L. Klingbeil, H. Kuhlmann (2019): Erkennung und Zählung von Weizenähren mit Hilfe von bodengestützten Bildaufnahmen. Computer-Bildanalyse in der Landwirtschaft. In Bornimer Agrartechnische Berichte (102), pp 158-167. 


    • Klingbeil, L.; Kuhlmann, H. (2018). Mobile Multisensorsysteme: Sensoren, Verfahren, Anwendungen - Ein Überblick. In Beiträge zum 176. DVW-Seminar, Hamburg, 13.-14. Sept. 2018, pp. 9-23. 
    • Becirevic, D.; Klingbeil, L.; Honecker, A.; Schumann, H.; Leon, J.; Kuhlmann, H. (2018). UAV-based Growth Rate Determination in Winter Wheat. In 6th International Conference on Machine Control and Guidance. Bornimer Agrartechnische Berichte, Heft 101, pp 128-136.
    • Andreas Honecker, Henrik Schumann, Jens Léon, Diana Becirevic, Lasse Klingbeil, Heiner Kuhlmann, Kai Volland, Andreas Schmitz, Steffi Forberig, Hinrich Paulsen (2018). CropWatch - Informationssystem zur Prozesskontrolle und analyse in der Pflanzenproduktion. Workshop Computer-Bildanalyse in der Landwirtschaft, Bornimer Agrartechnische Bericht (99),  pp. 62-70.
    • Wilke, N., Siegmann, B., Burkart, A. , Klingbeil, L., Rascher, U. (2018) Quantifizierung der Ährenanzahl mittels UAV gestützter Bildaufnahmen, 38. Wissenschaftlich-Technische Jahrestagung der DGPF und PFGK18 Tagung in München


    • 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.


    • 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 


    • 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


    • 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:
    • 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 


    • 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


    • 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


    • 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


    • 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


    • 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