Multimedia Information Processing Group

Dr.-Ing. Arne Petersen


Hermann-Rodewald-Straße 3, R. 310 (HRS 3)
Phone: +49 431 880 4841
Telefax: +49 431 880 4845

Short CV

  • since 2017
Postdoc, Kiel University, Germany
  • 2012 - 2017   
Software Developer, Raytrix GmbH
  • 2014
Doctoral degree in Engineering, Kiel University, Germany
  Thesis: "A Specialized Kalman Filter Framework for IMU Aided Stereo SLAM"
  • 2007 - 2012
Research assistent, Kiel University, Germany
  • 2006
Engineer diploma, Kiel University, Germany

Research topics

The focus of my research is on 3D scene analysis using multi-camera systems (ranged from stereo rigs to light filed camera systems) and other depth sensors (e.g. Time-Of-Flight cameras). To exploit the acquired data in an optimal fashion I apply methods from (multi) sensor fusion, knowing that "The whole is more than the sum of its parts".
Since October 2016 I take part in the European Training Network on Full Paralax Imaging ETN-FPI (see To May 2017 I was supervising the project as representative of Raytrix GmbH Kiel. From July 2017 I take part as a member of the MIP work group.
For my doctoral thesis, finished October 2013, I've designed a SLAM (Simultaneous Localization And Mapping) system, using stereo vision and inertial sensors. The task was to optimize the system models used in Iterated/Extended Kalman Filters, with regard to linearity and error modelling. Therefore new state parametrizations and tools for statistical analysis have been developed. By this, the filter is optimized to increase the long term stability, consistency and quality of the estimated parameters and their error estimate.
In the past, I was involved in a joint venture project, aiming at the development of a commercial navigation system. Multiple sensors were used, to gain comprehensive information of the systems navigation state. The project ended successfully in 2010.
From end of 2010 to 2012 I took part in the research project "MoSES", as a joint venture with "IBAK Helmut Hunger GmbH & Co. KG". Within this project a modular software framework has been developed, that allows for easily assembling specialized software for multi sensor fusion.

Light Field Capturing
Plenoptic Cameras - Analysis and Simulation


Tim Michels, Arne Petersen and Reinhard Koch
Creating Realistic Ground Truth Data for the Evaluation of Calibration Methods for Plenoptic and Conventional Cameras
International Conference on 3D Vision (3DV), 2019.
 DOI: 10.1109/3DV.2019.00055green open access Preprint GitLab Repository

Tim Michels, Arne Petersen, Luca Palmieri, Reinhard Koch
Simulation of Plenoptic Cameras
3DTV Conference, 2018
DOI: 10.1109/3DTV.2018.8478432 Preprint GitHub Repository

Carlsohn, M.F.; Kemmling, A; Petersen, A.; Wietzke, L.
Light Field Particle Image Velocimetry by Plenoptic Image Capturing for 3D-Display of Simulated Blood Flow in Cerebral Aneurysms
Bildverarbeitung für die Medizin, Workshop 13. – 15. März 2016, Berlin
DOI: 10.1007/978-3-662-49465-3_41

Carlsohn, M.F.; Kemmling, A.; Petersen, A.; Wietzke, L.
3D real-time visualization of blood flow in cerebral aneurysms by light field particle image velocimetry
Proceedings of SPIE , Real-Time Image and Video Processing April 2016, Brussels, Belgium
DOI: 10.1117/12.2220417

Zielke, R.; Perwaß, C.; Petersen, A.; Erdmann, A.; Wietzke, L.; Menzel, P.; Brede, M.; Leder, A.
Erprobung der Lichtfeldkamera-Mikroskopie an einem μ-PIV Versuchstand zur Bestimmung von 3D-3C Geschwindigkeitsfeldern
Lasermethoden in der Strömungsmesstechnik, 23. Fachtagung, 8. - 10. September 2015, Dresden, Karlsruhe
Deutsche Gesellschaft für Laser-Anemometrie GALA eV pp. 3.1-3.8, 2015
ISBN 9783981676419

Arne Petersen:
Dissertation zur Erlangung des Titels Dr.-Ing.
A Specialized Kalman Filter Framework for IMU Aided Stereo SLAM
Kiel Computer Science Series 2014 Volume 3
Free access :
URN: urn:nbn:de:gbv:8-diss-145295

Menzel, P.; Perwaß, C.; Petersen, A.; Pinnow, A.; Wietzke, L.; Wolter, A.; Leder, A.
Erprobung eines neuartigen Lichtfeldkamera-Messsystems zur gleichzeitigen Messung von 3D-3C-Geschwindigkeitsfeldern sowie einer 3D-Oberflächenkontur
Lasermethoden in der Strömungsmesstechnik, 22. Fachtagung 9. - 11. September 2014, Karlsruhe
GALA pp. 7.1-7.9, 2014, ISBN 9783981676402

Arne Petersen, Reinhard Koch:
Video-based realtime IMU-camera Calibration for Robot Navigation
Proceedings of  SPIE , Real-Time Image and Video Processing 2012, 843706 (June 1, 2012);  doi:10.1117/12.924066
April 2012, Brussels, Belgium; BibTex

Arne Petersen, Reinhard Koch:
A Novel State Parametrization for Stereo SLAM (pdf 400KB)
Proceedings of  VisApp 2012, February 2012, Rom, Italy; BibTex

Arne Petersen, Marc-Andre Beyer (Raytheon Anschütz GmbH, Kiel):
Partitioned Covariance Intersection (pdf 514.6KB)
Proceedings of ISIS 2011, September 2011, Hamburg, Germany; BibTex

Arne Petersen, Reinhard Koch:
Statistical Analysis of Kalman Filters by Conversion to Gauss-Helmert Models with Applications to Process Noise Estimation(pdf 127.81 Kb)
Proceedings of  ICPR2010, August 2010, Istanbul, Turkey; BibTex

Jan-Friso Evers-Senne, Ingo Schiller, Arne Petersen, and Reinhard Koch:
"A Mobile Augmented Reality System with Distributed Tracking"
Proceedings of 3DPVT ,June 2006, Chapel Hill, NC, USA BibTeX


In the past I supported Prof. Dr.-Ing. Koch in lecturing multimedia communications. This lecture is especially designed for the international degree program digital communications. It deals with analyzing visual as well as aural perception, i.e. for signal-compression (MP3, JPEG etc.). Beside that, I've supervised various bachelor- and master/diploma-theses.