Universität Bonn

IGG | Geodesy

M.Sc. Felix Esser

PhD Student

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Felix Esser

+49 228 73 2987

0.010

Nußallee 17

53115 Bonn

© IGG Geodesy

Research Interests

  • GNSS / IMU integration for Vehicle Trajectory Estimation
  • System Calibration of Kinematic Laser Scanning Systems
  • High-resolution Point Cloud Creation
  • ROS-supported Robot Control and Path Planning
  • 3D Reconstruction and 3D Crop Phenotyping

Profiles

Teaching

  • Fachmodul GNSS, Ingenieurgeodäsie und geodätische Punktfelder (B51)
    • Seminar
    • Praktikum
  • Bachelorarbeiten
  • Geodätische Optimierung und Multisensorsysteme (M22)
  • Masterprojekt
  • Masterarbeiten
  • Mobile Sensing and Robotics (MSR) – Sensors and State Estimation
  • Mobile Sensing and Robotics (MSR) – Advanced Techniques for Mobile Sensing and Robotics
  • Master Projects

Publications


  • Esser, F., Marks, E., Magistri, F., Weyler, J., Bultmann, S., Zaenker, T., Ahmadi, A., Schreiber, M., Kuhlmann, H., McCool, C. and others. (2025). Automated Leaf-Level Inspection of Crops Combining UAV and UGV Robots. In: European Robotics Forum (pp. 35-41). Cham: Springer Nature Switzerland. https://doi.org/10.1007/978-3-031-89471-8_6 
  • Esser, F., Tombrink, G., Cornelißen, A., Klingbeil, L. & Kuhlmann, H. (2024). System Calibration of a Field Phenotyping Robot with Multiple High-Precision Profile Laser Scanners. In: 2024 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2024. S. 8471-8477. https://doi.org/10.1109/ICRA57147.2024.10610208 
  • Esser, F., Rosu, R. A., Cornelißen, A., Klingbeil, L., Kuhlmann, H., & Behnke, S. (2023). Field Robot for High-Throughput and High-Resolution 3D Plant Phenotyping: Towards Efficient and Sustainable Crop Production. IEEE Robotics & Automation Magazine. https://doi.org/10.1109/MRA.2023.3321402
  • Esser, F.; Klingbeil, L.; Zabawa, L.; Kuhlmann, H. (2023) Quality Analysis of a High-Precision Kinematic Laser Scanning System for the Use of Spatio-Temporal Plant and Organ-Level Phenotyping in the Field. Remote Sens.  15, 1117. https://doi.org/10.3390/rs15041117
  • Esser, F., Moraga, J. A., Klingbeil, L., & Kuhlmann, H. (2023). Accuracy improvement of mobile laser scanning point clouds using graph-based trajectory optimization. Presentation at the 5th Joint International Symposium on Deformation Monitoring (JISDM), Valencia, Spain, 2022, http://doi.org/10.4995/JISDM2022.2022.13728

Collaborations

  • Chong, Y. L., Krämer, J., Chakhvashvili, E., Marks, E., Esser, F., Dreier, A., ... & Klingbeil, L. (2026). The Multi-Sensor and Multi-Temporal Dataset of Multiple Crops for In-Field Phenotyping and Monitoring. Scientific Data. https://doi.org/10.1038/s41597-025-06462-y 
  • Mittelstedt, M., Esser, F., Tombrink, G., Klingbeil, L., & Kuhlmann, H. (2025). Factor graph-based ground truth trajectory estimation by fusing robotic total station and inertial measurements. IEEE Robotics and Automation Letters. https://doi.org/10.1109/LRA.2025.3595033 
  • Cornelißen, A., Dreier, A., Esser, F., Tombrink, G., Klingbeil, L., & Kuhlmann, H. (2025). Systematic Error Reduction in UAV-Based Laser Scanning by Using RTS. ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 10, 23-29. https://doi.org/10.5194/isprs-annals-X-2-W2-2025-23-2025 
  • Bömer, J., Esser, F., Marks, E., Rosu, R. A., Behnke, S., Klingbeil, L., ... & Paulus, S. (2024). A 3D printed plant model for accurate and reliable 3D plant phenotyping. GigaScience, 13, giae035. https://doi.org/10.1093/gigascience/giae035 
  • Klingbeil, L., Dreier, A., Esser, F., Zabawa, L., Pavlic, D. & Kuhlmann, H. (2022). Mobile Mapping auf dem Acker – hochaufgelöste 3D-Vermessung für nachhaltige Pflanzenproduktion. Allgemeine Vermessungs-Nachrichten (AVN), 129 (2022) 3, S. 96-103, Wichmann Verlag, Berlin. 
  • Zabawa, L., Zabawa, L., Esser, F., Klingbeil, L., & Kuhlmann, H. (2021). Automated surface area estimation of plants based on 3D point clouds. In 7th workshop on Computer Vision in Plant Phenotyping and Agriculture at ICCV.
  • Holst, C., Klingbeil, L., Esser, F., & Kuhlmann, H. (2017). Using point cloud comparisons for revealing deformations of natural and artificial objects. In 7th International Conference on Engineering Surveying (INGEO) (pp. 18-20).

    Presentations & Posters

    Esser, F., Marks, E., Magistri, F., Weyler, J., Bultmann, S., Zaenker, T., Ahmadi, A., Schreiber, M., Kuhlmann, H., McCool, C. and others. (2025). Automated Leaf-Level Inspection of Crops in Agricultural Fields by Combining Aerial and Ground Robot Systems. 40th Anniversary of the IEEE International Conference on Robotics and Automation (ICRA@40), Rotterdam, Netherlands, September 2024. https://www.ais.uni-bonn.de/papers/ICRA_40_Esser.pdf 

    Esser, F., Tombrink, G., Cornelißen, A., Klingbeil, L. & Kuhlmann, H. (2024). System Calibration of a Field Phenotyping Robot with Multiple High-Precision Profile Laser Scanners. In: 2024 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2024. S. 8471-8477. https://doi.org/10.1109/ICRA57147.2024.10610208 

    Esser, F., Moraga, J. A., Klingbeil, L., & Kuhlmann, H. (2023). Accuracy improvement of mobile laser scanning point clouds using graph-based trajectory optimization. Presentation at the 5th Joint International Symposium on Deformation Monitoring (JISDM), Valencia, Spain, 2022, http://doi.org/10.4995/JISDM2022.2022.13728

    Projects