Academic Career

since 01/12 Ph.D. Student within the Research Training Group 1194.
since 11/11 Research Assistant at the Intelligent Sensor-Actuator-Systems Lab, Department of Computer Science, Karlsruhe Insitute of Technology.
09/13 - 12/13 Visiting Student Research Collaborator (VSRC) at Princeton University advised by Prof. Kulkarni.
03/11 - 09/11 Diploma Thesis: "Strategies for the Identification of Dependencies and for Distributed Data Fusion in Sensor Networks".
08/10 - 12/10 Study Thesis: "Fusion of Uncertain Information under Unknown Correlations".
04/08 - 10/11 Student of Computer Science at the Karlsruhe Institute of Technology.

Research

My research interests lie in the area of distributed estimation of a physical phenomenon. In this regard, I am concerned with optimizing the processing of measurements at the sensors, minimizing data traffic between the nodes, and finding fusion rules for locally derived information.

Distributed and Decentralized Estimation: When a common phenomenon is estimated at spatially distributed nodes, dependencies arise from past data exchanges and/or a common evolution model of the phenomenon. When sensors ignore the correlations, even for linear models, inconsistent and bad estimates are obtained by the sensor network. I proposed an approach that takes into account the dependencies and optimizes the local filtering at the sensors according to an assumed sensor network capacity while consistent quality bounds are provided (see hypothesizing distributed Kalman filter papers for more details).

Fusion under Unknown Dependencies: In diverse estimation scenarios such as SLAM or large-scale systems, it is expensive and sometimes even impossible to store dependency information between estimates. When this information is discarded, suboptimal fusion methods that minimize the expected uncertainty are applied. While Covariance Intersection is a popular representative in this category, I pursue the idea of utilizing some (easy to maintain) dependency information in order to yield more precise estimates and bounds.

Nonlinear Estimation: Many real world problems cannot be described sufficiently by linear models and unimodal distributions. Therefore, density estimators, e.g., sigma point filter and the particle filter, have been developed. However, even as these algorithms can provide arbitrarily precise estimates (when the time for computation is ignored), they fall short on providing the user with reliable quality criteria. In this context, I aim at deriving a definition of conservatism for arbitrary densities.

Code

Random generation of covariance/correlation matrices: Matlab / C++

Hypothesizing Distributed Kalman Filter reference implementation: Matlab

Awards

IEEE MFI 2012 Best Student Paper Candidate: "The Hypothesizing Distributed Kalman Filter"


Preprints

 
Jörg Fischer, Marc Reinhardt, Uwe D. Hanebeck,
Optimal Sequence-Based Control and Estimation of Networked Linear Systems
arXiv preprint: Systems and Control (cs.SY), August 2012.
URL
Author : Jörg Fischer, Marc Reinhardt, Uwe D. Hanebeck
Editor :
Title : Optimal Sequence-Based Control and Estimation of Networked Linear Systems
In : arXiv preprint: Systems and Control (cs.SY)
Address :
Date : August 2012
Abstract


Publications

 
Benjamin Noack, Joris Sijs, Marc Reinhardt, Uwe D. Hanebeck,
Decentralized Data Fusion with Inverse Covariance Intersection
Automatica, 79:35-41, May 2017.
PDF URL
Author : Benjamin Noack, Joris Sijs, Marc Reinhardt, Uwe D. Hanebeck
Editor :
Title : Decentralized Data Fusion with Inverse Covariance Intersection
In : Automatica
Address :
Date : May 2017
Abstract
 
Jannik Steinbring, Benjamin Noack, Marc Reinhardt, Uwe D. Hanebeck,
Optimal Sample-Based Fusion for Distributed State Estimation
Proceedings of the 19th International Conference on Information Fusion (Fusion 2016), Heidelberg, Germany, July 2016.
PDF
Author : Jannik Steinbring, Benjamin Noack, Marc Reinhardt, Uwe D. Hanebeck
Editor :
Title : Optimal Sample-Based Fusion for Distributed State Estimation
In : Proceedings of the 19th International Conference on Information Fusion (Fusion 2016)
Address : Heidelberg, Germany
Date : July 2016
Abstract
 
Marc Reinhardt, Benjamin Noack, Pablo O. Arambel, Uwe D. Hanebeck,
Minimum Covariance Bounds for the Fusion under Unknown Correlations
IEEE Signal Processing Letters, 22(9):1210-1214, September 2015.
PDF URL
Author : Marc Reinhardt, Benjamin Noack, Pablo O. Arambel, Uwe D. Hanebeck
Editor :
Title : Minimum Covariance Bounds for the Fusion under Unknown Correlations
In : IEEE Signal Processing Letters
Address :
Date : September 2015
Abstract
 
Benjamin Noack, Joris Sijs, Marc Reinhardt, Uwe D. Hanebeck,
Treatment of Dependent Information in Multisensor Kalman Filtering and Data Fusion
Multisensor Data Fusion: From Algorithms and Architectural Design to Applications, pp. 169–-192, CRC Press, August 2015.
URL
Author : Benjamin Noack, Joris Sijs, Marc Reinhardt, Uwe D. Hanebeck
Editor : Hassen Fourati
Title : Treatment of Dependent Information in Multisensor Kalman Filtering and Data Fusion
In : Multisensor Data Fusion: From Algorithms and Architectural Design to Applications
Address :
Date : August 2015
Abstract
 
Marc Reinhardt, Sanjeev Kulkarni, Uwe D. Hanebeck,
Generalized Covariance Intersection based on Noise Decomposition
Proceedings of the 2014 IEEE International Conference on Multisensor Fusion and Information Integration (MFI 2014), Beijing, China, September 2014.
PDF
Author : Marc Reinhardt, Sanjeev Kulkarni, Uwe D. Hanebeck
Editor :
Title : Generalized Covariance Intersection based on Noise Decomposition
In : Proceedings of the 2014 IEEE International Conference on Multisensor Fusion and Information Integration (MFI 2014)
Address : Beijing, China
Date : September 2014
Abstract
 
Marc Reinhardt, Benjamin Noack, Sanjeev Kulkarni, Uwe D. Hanebeck,
Distributed Kalman Filtering in the Presence of Packet Delays and Losses
Proceedings of the 17th International Conference on Information Fusion (Fusion 2014), Salamanca, Spain, July 2014.
PDF
Author : Marc Reinhardt, Benjamin Noack, Sanjeev Kulkarni, Uwe D. Hanebeck
Editor :
Title : Distributed Kalman Filtering in the Presence of Packet Delays and Losses
In : Proceedings of the 17th International Conference on Information Fusion (Fusion 2014)
Address : Salamanca, Spain
Date : July 2014
Abstract
 
Jiří Ajgl, Miroslav Šimandl, Marc Reinhardt, Benjamin Noack, Uwe D. Hanebeck,
Covariance Intersection in State Estimation of Dynamical Systems
Proceedings of the 17th International Conference on Information Fusion (Fusion 2014), Salamanca, Spain, July 2014.
PDF
Author : Jiří Ajgl, Miroslav Šimandl, Marc Reinhardt, Benjamin Noack, Uwe D. Hanebeck
Editor :
Title : Covariance Intersection in State Estimation of Dynamical Systems
In : Proceedings of the 17th International Conference on Information Fusion (Fusion 2014)
Address : Salamanca, Spain
Date : July 2014
Abstract
 
Benjamin Noack, Marc Reinhardt, Uwe D. Hanebeck,
On Nonlinear Track-to-track Fusion with Gaussian Mixtures
Proceedings of the 17th International Conference on Information Fusion (Fusion 2014), Salamanca, Spain, July 2014.
PDF
Author : Benjamin Noack, Marc Reinhardt, Uwe D. Hanebeck
Editor :
Title : On Nonlinear Track-to-track Fusion with Gaussian Mixtures
In : Proceedings of the 17th International Conference on Information Fusion (Fusion 2014)
Address : Salamanca, Spain
Date : July 2014
Abstract
 
Marc Reinhardt, Benjamin Noack, Uwe D. Hanebeck,
Reconstruction of Joint Covariance Matrices in Networked Linear Systems
Proceedings of the 48th Annual Conference on Information Sciences and Systems (CISS 2014), Princeton, New Jersey, USA, March 2014.
PDF
Author : Marc Reinhardt, Benjamin Noack, Uwe D. Hanebeck
Editor :
Title : Reconstruction of Joint Covariance Matrices in Networked Linear Systems
In : Proceedings of the 48th Annual Conference on Information Sciences and Systems (CISS 2014)
Address : Princeton, New Jersey, USA
Date : March 2014
Abstract
 
Jörg Fischer, Marc Reinhardt, Uwe D. Hanebeck,
Optimal Sequence-Based Control and Estimation of Networked Linear Systems
at - Automatisierungstechnik, Oldenbourg Verlag, 61(7):467-476, July 2013.
PDF URL
Author : Jörg Fischer, Marc Reinhardt, Uwe D. Hanebeck
Editor :
Title : Optimal Sequence-Based Control and Estimation of Networked Linear Systems
In : at - Automatisierungstechnik, Oldenbourg Verlag
Address :
Date : July 2013
Abstract
 
Marc Reinhardt, Benjamin Noack, Uwe D. Hanebeck,
Advances in Hypothesizing Distributed Kalman Filtering
Proceedings of the 16th International Conference on Information Fusion (Fusion 2013), Istanbul, Turkey, July 2013.
PDF
Author : Marc Reinhardt, Benjamin Noack, Uwe D. Hanebeck
Editor :
Title : Advances in Hypothesizing Distributed Kalman Filtering
In : Proceedings of the 16th International Conference on Information Fusion (Fusion 2013)
Address : Istanbul, Turkey
Date : July 2013
Abstract
 
Benjamin Noack, Simon J. Julier, Marc Reinhardt, Uwe D. Hanebeck,
Nonlinear Federated Filtering
Proceedings of the 16th International Conference on Information Fusion (Fusion 2013), Istanbul, Turkey, July 2013.
PDF
Author : Benjamin Noack, Simon J. Julier, Marc Reinhardt, Uwe D. Hanebeck
Editor :
Title : Nonlinear Federated Filtering
In : Proceedings of the 16th International Conference on Information Fusion (Fusion 2013)
Address : Istanbul, Turkey
Date : July 2013
Abstract
 
Marc Reinhardt, Benjamin Noack, Uwe D. Hanebeck,
Decentralized Control Based on Globally Optimal Estimation
Proceedings of the 51st IEEE Conference on Decision and Control (CDC 2012), Maui, Hawaii, USA, December 2012.
PDF
Author : Marc Reinhardt, Benjamin Noack, Uwe D. Hanebeck
Editor :
Title : Decentralized Control Based on Globally Optimal Estimation
In : Proceedings of the 51st IEEE Conference on Decision and Control (CDC 2012)
Address : Maui, Hawaii, USA
Date : December 2012
Abstract
 
Marc Reinhardt, Benjamin Noack, Uwe D. Hanebeck,
The Hypothesizing Distributed Kalman Filter
Proceedings of the 2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2012), Hamburg, Germany, September 2012.
PDF
Author : Marc Reinhardt, Benjamin Noack, Uwe D. Hanebeck
Editor :
Title : The Hypothesizing Distributed Kalman Filter
In : Proceedings of the 2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2012)
Address : Hamburg, Germany
Date : September 2012
Abstract Nominee Best Student Paper Award
 
Marc Reinhardt, Benjamin Noack, Uwe D. Hanebeck,
Closed-form Optimization of Covariance Intersection for Low-dimensional Matrices
Proceedings of the 15th International Conference on Information Fusion (Fusion 2012), Singapore, July 2012.
PDF
Author : Marc Reinhardt, Benjamin Noack, Uwe D. Hanebeck
Editor :
Title : Closed-form Optimization of Covariance Intersection for Low-dimensional Matrices
In : Proceedings of the 15th International Conference on Information Fusion (Fusion 2012)
Address : Singapore
Date : July 2012
Abstract
 
Marc Reinhardt, Benjamin Noack, Uwe D. Hanebeck,
On Optimal Distributed Kalman Filtering in Non-ideal Situations
Proceedings of the 15th International Conference on Information Fusion (Fusion 2012), Singapore, July 2012.
PDF
Author : Marc Reinhardt, Benjamin Noack, Uwe D. Hanebeck
Editor :
Title : On Optimal Distributed Kalman Filtering in Non-ideal Situations
In : Proceedings of the 15th International Conference on Information Fusion (Fusion 2012)
Address : Singapore
Date : July 2012
Abstract
 
Marc Reinhardt, Benjamin Noack, Marcus Baum, Uwe D. Hanebeck,
Analysis of Set-theoretic and Stochastic Models for Fusion under Unknown Correlations
Proceedings of the 14th International Conference on Information Fusion (Fusion 2011), Chicago, Illinois, USA, July 2011.
PDF
Author : Marc Reinhardt, Benjamin Noack, Marcus Baum, Uwe D. Hanebeck
Editor :
Title : Analysis of Set-theoretic and Stochastic Models for Fusion under Unknown Correlations
In : Proceedings of the 14th International Conference on Information Fusion (Fusion 2011)
Address : Chicago, Illinois, USA
Date : July 2011
Abstract
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