Publications

2026

Y. L. Chong, J. Krämer, E. Chakhvashvili, E. Marks, F. Esser, A. Dreier, R. A. Rosu, K. Warstat, R. Pude, S. Behnke, O. Muller, U. Rascher, H. Kuhlmann, C. Stachniss, J. Behley, and L. Klingbeil, “The Multi-Sensor and Multi-Temporal Dataset of Multiple Crops for In-Field Phenotyping and Monitoring,” Scientific Data, vol. 13, 2026. doi:10.1038/s41597-025-06462-y

2025

A. Dreier, A. Tobies, H. Kuhlmann, and L. Klingbeil, “Stone Instance Segmentation of Rubble Masonry Based on Laser Scanning Point Clouds,” Measurement, vol. 242, p. 115905, 2025.
J. Yi, G. Lopez, S. Hadir, J. Weyler, L. Klingbeil, M. Deichmann, J. Gall, and S. J. Seidel, “Non-invasive diagnosis of nutrient deficiencies in winter wheat and winter rye using uav-based rgb images,” Computers and Electronics in Agriculture, vol. 239, p. 110865, 2025.
J. Knechtel, Y. Dehbi, L. Klingbeil, and J.-H. Haunert, “Simultaneous planning of standpoints and routing for laser scanning of buildings with network redundancy,” ISPRS Journal of Photogrammetry and Remote Sensing, vol. 224, pp. 59–74, 2025.
M. Mittelstedt, F. Esser, G. Tombrink, L. Klingbeil, and H. Kuhlmann, “Factor graph-based ground truth trajectory estimation by fusing robotic total station and inertial measurements,” IEEE Robotics and Automation Letters, 2025.
G. Tombrink, A. Dreier, L. Klingbeil, and H. Kuhlmann, “Spatio-temporal trajectory alignment for trajectory evaluation,” Journal of Applied Geodesy, vol. 19, no. 2, pp. 321–331, 2025.
Y. Wu, J. Kuang, X. Niu, C. Stachniss, L. Klingbeil, and H. Kuhlmann, “Wheel-gins: A gnss/ins integrated navigation system with a wheel-mounted imu,” IEEE Transactions on Intelligent Transportation Systems, 2025.
M. Wagner, B. Jost, L. Klingbeil, and H. Kuhlmann, “Evaluation of mobile mapping point clouds in the context of height difference estimation,” Journal of Applied Geodesy, no. 0, 2025.
F. Esser, E. Marks, F. Magistri, J. Weyler, S. Bultmann, T. Zaenker, A. Ahmadi, M. Schreiber, H. Kuhlmann, C. McCool, M. Popović, C. Stachniss, S. Behnke, M. Bennewitz, and L. Klingbeil, “Automated leaf-level inspection of crops combining uav and ugv robots,” in European Robotics Forum, pp. 35–41, Springer, 2025.
Y. Wu, J. Kuang, S. Khorshidi, X. Niu, L. Klingbeil, M. Bennewitz, and H. Kuhlmann, “Doglegs: Robust proprioceptive state estimation for legged robots using multiple leg-mounted imus,” in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2025.
A. Cornelißen, A. Dreier, F. Esser, G. Tombrink, L. Klingbeil, and H. Kuhlmann, “Systematic error reduction in uav-based laser scanning by using rts,” ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, vol. 10, pp. 23–29, 2025.
F. Magistri, T. Läbe, E. Marks, S. Nagulavancha, Y. Pan, C. Smitt, L. Klingbeil, M. Halstead, H. Kuhlmann, C. McCool, J. Behley, and C. Stachniss, “A dataset and benchmark for shape completion of fruits for agricultural robotics,” in 2025 IEEE International Conference on Robotics and Automation (ICRA), pp. 16774–16780, IEEE, 2025.

2024

A. Dreier, G. Lopez, R. Bajracharya, H. Kuhlmann, and L. Klingbeil, “Structural wheat trait estimation using UAV-based laser scanning data: Analysis of critical aspects and recommendations based on a case study,” Precision Agriculture, vol. 26, p. 18, Dec. 2024.
L. Stausberg, B. Jost, L. Klingbeil, and H. Kuhlmann, “A 3D Surface Reconstruction Pipeline for Plant Phenotyping,” Remote Sensing, vol. 16, no. 24, 2024.
E. Chakhvashvili, L. Stausberg, J. Bendig, L. Klingbeil, B. Siegmann, O. Muller, H. Kuhlmann, and U. Rascher, “Multispectral Imaging and Terrestrial Laser Scanning for the Detection of Drought-Induced Paraheliotropic Leaf Movement in Soybean,” International Journal of Applied Earth Observation and Geoinformation, vol. 135, p. 104250, 2024.
H. Storm, S. J. Seidel, L. Klingbeil, F. Ewert, H. Vereecken, W. Amelung, S. Behnke, M. Bennewitz, J. Börner, T. Döring, J. Gall, A.-K. Mahlein, C. McCool, U. Rascher, S. Wrobel, A. Schnepf, C. Stachniss, and H. Kuhlmann, “Research Priorities to Leverage Smart Digital Technologies for Sustainable Crop Production,” European Journal of Agronomy, vol. 156, p. 127178, 2024.
A. Dreier, B. Jost, H. Kuhlmann, and L. Klingbeil, “Investigations of the Scan Characteristics with Special Focus on Multi-Target Capability for the 2D Laser Scanner RIEGL miniVUX-2UAV,” Journal of Applied Geodesy, vol. 18, no. 1, pp. 97–113, 2024.
J. Bömer, F. Esser, E. Marks, R. A. Rosu, S. Behnke, L. Klingbeil, H. Kuhlmann, C. Stachniss, A.-K. Mahlein, and S. Paulus, “A 3D Printed Plant Model for Accurate and Reliable 3D Plant Phenotyping,” GigaScience, vol. 13, p. giae035, 06 2024.
Y. Wu, T. Guadagnino, L. Wiesmann, L. Klingbeil, C. Stachniss, and H. Kuhlmann, “LIO-EKF: High Frequency LiDAR-Inertial Odometry using Extended Kalman Filters,” in 2024 IEEE International Conference on Robotics and Automation (ICRA), pp. 13741–13747, 2024
F. Esser, G. Tombrink, A. Cornelißen, L. Klingbeil, and H. Kuhlmann, “System Calibration of a Field Phenotyping Robot with Multiple High-Precision Profile Laser Scanners,” in 2024 IEEE International Conference on Robotics and Automation (ICRA), pp. 8471–8477, 2024.

2023

F. Esser, R. A. Rosu, A. Cornelißen, L. Klingbeil, H. Kuhlmann, and S. Behnke, “Field Robot for High-Throughput and High-Resolution 3D Plant Phenotyping: Towards Efficient and Sustainable Crop Production,” IEEE Robotics & Automation Magazine, vol. 30, no. 4, pp. 20–29, 2023.
Y. Wu, J. Kuang, X. Niu, J. Behley, L. Klingbeil, and H. Kuhlmann, “Wheel-SLAM: Simultaneous Localization and Terrain Mapping Using One Wheel-Mounted IMU,” IEEE Robotics and Automation Letters, vol. 8, no. 1, pp. 280–287, 2023.
G. Tombrink, A. Dreier, L. Klingbeil, and H. Kuhlmann, “Trajectory Evaluation Using Repeated Rail-Bound Measurements,” Journal of Applied Geodesy, 2023.
F. Esser, L. Klingbeil, L. Zabawa, and H. Kuhlmann, “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 Sensing, vol. 15, no. 4, 2023.
F. Esser, J. A. Moraga, L. Klingbeil, and H. Kuhlmann, “Accuracy Improvement of Mobile Laser Scanning Point Clouds Using Graph-Based Trajectory Optimization,” in Proceedings of the 5th Joint International Symposium on Deformation Monitoring (JISDM), 20-22 June 2022, Valencia, Spain, no. June, pp. 20–22, 2023.
A. Dreier, L. Klingbeil, and H. Kuhlmann, “The Potential of UAV-Based Laser Scanning for Deformation Monitoring. Case Study on a Water Dam,” in Proceedings of the 5th Joint International Symposium on Deformation Monitoring (JISDM), 20-22 June 2022, Valencia, Spain, no. June, pp. 261–269, 2023.

2022

A. Kaczmarek, W. Rohm, L. Klingbeil, and J. Tchórzewski, “Experimental 2D Extended Kalman Filter Sensor Fusion for Low-Cost GNSS/IMU/Odometers Precise Positioning System,” Measurement: Journal of the International Measurement Confederation, vol. 193, no. August 2021, pp. 0–11, 2022.
L. Zabawa, A. Kicherer, L. Klingbeil, R. Töpfer, R. Roscher, and H. Kuhlmann, “Image-Based Analysis of Yield Parameters in Viticulture,” Biosystems Engineering, vol. 218, pp. 94–109, jun 2022.
J. Knechtel, L. Klingbeil, J. H. Haunert, and Y. Dehbi, “Optimal Position and Path Planning for StopAnd-Go Laser Scanning for the Acquisition of 3D Building Models,” ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, vol. 5, no. 4, pp. 129–136, 2022.

2021

L. Lucks, L. Klingbeil, L. Plümer, and Y. Dehbi, “Improving Trajectory Estimation Using 3D City Models and Kinematic Point Clouds,” Transactions in GIS, vol. 25, pp. 238–260, jan 2021.
L. Lucks, L. Haraké, and L. Klingbeil, “Detektion von Weizenähren mithilfe neuronaler Netze und synthetisch erzeugter Trainingsdaten,” tm - Technisches Messen, vol. 88, pp. 433–442, may 2021.
A. Dreier, J. Janßen, H. Kuhlmann, and L. Klingbeil, “Quality Analysis of Direct Georeferencing in Aspects of Absolute Accuracy and Precision for a UAV-Based Laser Scanning System,” Remote Sensing, vol. 13, p. 3564, sep 2021.
D. Schunck, F. Magistri, R. A. Rosu, A. Cornelißen, N. Chebrolu, S. Paulus, J. Léon, S. Behnke, C. Stachniss, H. Kuhlmann, and L. Klingbeil, “Pheno4D: A Spatio-Temporal Dataset of Maize and Tomato Plant Point Clouds for Phenotyping and Advanced Plant Analysis,” PLOS ONE, vol. 16, p. e0256340, aug 2021.

2020

J. Eichel, D. Draebing, T. Kattenborn, J. A. Senn, L. Klingbeil, M. Wieland, and E. Heinz, “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, vol. 31,
pp. 97–109, jan 2020.
E. Heinz, C. Holst, H. Kuhlmann, and L. Klingbeil, “Design and Evaluation of a Permanently Installed Plane-Based Calibration Field for Mobile Laser Scanning Systems,” Remote Sensing, vol. 12, p. 555, feb 2020.
A. Honecker, H. Schumann, D. Becirevic, L. Klingbeil, K. Volland, S. Forberig, M. Jansen, H. Paulsen, H. Kuhlmann, and J. Léon, “Plant, Space and Time - Linked Together in an Integrative and Scalable Data Management System for Phenomic Approaches in Agronomic Field Trials,” Plant Methods, vol. 16, p. 55, apr 2020.
L. Zabawa, A. Kicherer, L. Klingbeil, R. Töpfer, H. Kuhlmann, and R. Roscher, “Counting of Grapevine Berries in Images via Semantic Segmentation Using Convolutional Neural Networks,” ISPRS Journal of Photogrammetry and Remote Sensing, vol. 164, pp. 73–83, jun 2020.
G. Li, L. Klingbeil, F. Zimmermann, S. Huang, and H. Kuhlmann, “An Integrated Positioning and Attitude Determination System for Immersed Tunnel Elements: A Simulation Study,” Sensors, vol. 20, p. 7296, dec 2020.
J. Bömer, L. Zabawa, P. Sieren, A. Kicherer, L. Klingbeil, U. Rascher, O. Muller, H. Kuhlmann, and R. Roscher, “Automatic Differentiation of Damaged and Unharmed Grapes Using RGB Images and Convolutional Neural Networks,” in Computer Vision – ECCV 2020 Workshops (A. Bartoli and A. Fusiello, eds.), (Cham), pp. 347–359, Springer International Publishing, 2020.

2019

F. Zimmermann, B. Schmitz, L. Klingbeil, and H. Kuhlmann, “GPS Multipath Analysis Using Fresnel Zones,” Sensors, vol. 19, p. 25, dec 2019.
N. Wilke, B. Siegmann, L. Klingbeil, A. Burkart, T. Kraska, O. Muller, A. van Doorn, S. Heinemann, and U. Rascher, “Quantifying Lodging Percentage and Lodging Severity Using a UAV-Based Canopy Height Model Combined with an Objective Threshold Approach,” Remote Sensing, vol. 11, p. 515, mar 2019.
E. Heinz, C. Eling, L. Klingbeil, and H. Kuhlmann, “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, vol. 14, pp. 39–54, jan 2019.
L. Klingbeil, E. Heinz, M. Wieland, J. Eichel, T. Laebe, and H. Kuhlmann, “On the UAV-Based Analysis of Slow Geomorphological Processes: A Case Study at a Solifluction Lobe in the Turtmann Valley,” in 2019 Joint International Symposium on Deformation Monitoring (JISDM), Athens, Greece, 2019.
L. Zabawa, A. Kicherer, L. Klingbeil, A. Milioto, R. Töpfer, H. Kuhlmann, and R. Roscher, “Detection of Single Grapevine Berries in Images Using Fully Convolutional Neural Networks,” in 2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), pp. 2571–2579, IEEE, jun 2019.
D. Becirevic, L. Klingbeil, A. Honecker, H. Schumann, U. Rascher, J. Léon, and H. Kuhlmann, “On the Derivation of Crop Heights from Multitemporal UAV-Based Imagery,” ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, vol. IV-2/W5, pp. 95–102, may 2019.
Y. Dehbi, L. Lucks, J. Behmann, L. Klingbeil, and L. Plümer, “Improving GPS Trajectories Using 3D City Models And Kinematic Point Clouds,” ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, vol. IV-4/W9, pp. 35–42, sep 2019.

2018

F. Zimmermann, C. Holst, L. Klingbeil, and H. Kuhlmann, “Accurate Georeferencing of TLS Point Clouds
With Short GNSS Observation Durations Even Under Challenging Measurement Conditions,” Journal of
Applied Geodesy, vol. 12, pp. 289–301, oct 2018.

2017

A. Kicherer, K. Herzog, N. Bendel, H. C. Klück, A. Backhaus, M. Wieland, J. C. Rose, L. Klingbeil, T. Läbe, C. Hohl, W. Petry, H. Kuhlmann, U. Seiffert, and R. Töpfer, “Phenoliner: A New Field Phenotyping Platform for Grapevine Research,” Sensors, vol. 17, p. 1625, jul 2017.
J. Eichel, D. Draebing, L. Klingbeil, M. Wieland, C. Eling, S. Schmidtlein, H. Kuhlmann, and R. Dikau, “Solifluction Meets Vegetation: the Role of Biogeomorphic Feedbacks for Turf-Banked Solifluction Lobe Development,” Earth Surface Processes and Landforms, vol. 42, pp. 1623–1635, feb 2017.
L. Klingbeil, C. Eling, E. Heinz, M. Wieland, and H. Kuhlmann, “Direct Georeferencing for Portable Mapping Systems: In the Air and on the Ground,” Journal of Surveying Engineering, vol. 143, p. 04017010, nov 2017.
E. Heinz, C. Eling, M. Wieland, L. Klingbeil, and H. Kuhlmann, “Analysis of Different Reference Plane Setups for the Calibration of a Mobile Laser Scanning System,” in Ingenieurvermessung 17, Beiträge zum 18. Internationalen Ingenieurvermessungskurs, Graz, Austria (W. Lienhart, ed.), pp. 1–14, Wichmann Verlag., July 2017.
C. Holst, L. Klingbeil, F. Esser, and H. Kuhlmann, “Using Point Cloud Comparisons for Revealing Deformations of Natural and Artificial Objects,” in 2017 International Conference on Engineering Surveying (INGEO), pp. 265–274, 2017.
F. Zimmermann, C. Eling, L. Klingbeil, and H. Kuhlmann, “Precise Positioning of UAVs - Dealing with Challenging RTK-GPS Measurement Conditions During Automated UAV Flights,” ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, vol. 4, pp. 95–102, aug 2017.

2016

J. C. Rose, A. Kicherer, M. Wieland, L. Klingbeil, R. Töpfer, and H. Kuhlmann, “Towards Automated Large-Scale 3D Phenotyping of Vineyards under Field Conditions,” Sensors, vol. 16, p. 2136, dec 2016.
J. Schneider, C. Eling, L. Klingbeil, H. Kuhlmann, W. Förstner, and C. Stachniss, “Fast and Effective Online Pose Estimation and Mapping for UAVs,” in 2016 IEEE International Conference on Robotics and Automation (ICRA), IEEE, may 2016.
C. Eling, L. Klingbeil, M. Wieland, and H. Kuhlmann, “Towards Deformation Monitoring with UAVBased Mobile Mapping Systems,” in 2016 Joint International Symposium on Deformation Monitoring (JISDM), TU Wien, Vienna, 2016.

2015

E. Heinz, C. Eling, M. Wieland, L. Klingbeil, and H. Kuhlmann, “Development, Calibration and Evaluation of a Portable and Direct Georeferenced Laser Scanning System for Kinematic 3D Mapping,” Journal of Applied Geodesy, vol. 9, pp. 227–243, jan 2015.
C. Eling, L. Klingbeil, and H. Kuhlmann, “Real-Time Single-Frequency GPS / MEMS - IMU Attitude Determination of Lightweight UAVs,” Sensors, vol. 15, pp. 26212–26235, oct 2015

2014

M. Romanovas, M. Traechtler, L. Klingbeil, and Y. Manoli, “On Fractional Models for Human Motion Tracking,” Journal of Vibration and Control, vol. 20, pp. 986–997, jun 2014.
L. Klingbeil, C. Eling, F. Zimmermann, and H. Kuhlmann, “Magnetic Field Sensor Calibration for Attitude Determination,” Journal of Applied Geodesy, vol. 8, pp. 97–108, jan 2014.
P. Schopp, H. Graf, M. Maurer, M. Romanovas, L. Klingbeil, and Y. Manoli, “Observing Relative Motion with Three Accelerometer Triads,” IEEE Transactions on Instrumentation and Measurement, vol. 63, pp. 3137–3151, dec 2014.
C. Eling, L. Klingbeil, M. Wieland, and H. Kuhlmann, “Direct Georeferencing of Micro Aerial Vehicles - System Design, System Calibration and First Evaluation Tests,” Photogrammetrie - Fernerkundung - Geoinformation, vol. 2014, pp. 227–237, aug 2014.
L. Klingbeil and H. Kuhlmann, “Sensoren für Kinematische Anwendungen,” AVN - Allgemeine Vermessungsnachrichten, vol. 121, no. 5, pp. 186–191, 2014.
L. Klingbeil, M. Nieuwenhuisen, J. Schneider, C. Eling, D. Droeschel, D. Holz, T. Läbe, W. Förstner, S. Behnke, and H. Kuhlmann, “Towards Autonomous Navigation of a UAV-Based Mobile Mapping System,” in 2014 International Conference on Machine Control and Guidance (MCG), pp. 136–147, 2014.
C. Eling, L. Klingbeil, and H. Kuhlmann, “Development of an RTK-GPS System for Precise RealTime Positioning of Lightweight UAVs,” in Ingenieurvermessung 14, Beiträge zum 17. Internationalen Ingenieurvermessungskurs Zuerich (A. Wieser, ed.), Wichmann Verlag, Berlin, 2014.

2013

M. Romanovas, V. Goridko, L. Klingbeil, M. Bourouah, A. Al-Jawad, M. Traechtler, and Y. Manoli, “Pedestrian Indoor Localization Using Foot Mounted Inertial Sensors in Combination with a Magnetometer, a Barometer and RFID,” in Lecture Notes in Geoinformation and Cartography, pp. 151–172, Springer Berlin Heidelberg, 2013.

2012

L. Klingbeil and M. Romanovas, “Rekursive Bayesische Schätzverfahren zur Lokalisierung von Personen Innerhalb von Gebäuden,” ZFV - Zeitschrift fur Geodasie, Geoinformation und Landmanagement, vol. 137, no. 6, pp. 365–376, 2012.