Fraktale Dimension der Kontur endoskopisch ermittelter Farbbilder von Geschwüren des Magens. - Dietrich Paulus; Heinrich Niemann; Christian Lenz; Joachim Demling; Christian Ell (DAGM-Symposium, 1993)

Verfahren zur Überlagerung verschiedener PET-Transmissionsdatensätze im Toraxbereich. - R. Pothmann; Christian Lenz; R. Weise (DAGM-Symposium, 1996)

Visualization of Meteorological Data using an Interactive Flight. - Matthias König 001; Christian Lenz; Gitta Domik (Computer Graphics International, 1998)

Visualization of Geographic Data using VRML - An Internet Client for a Geographic Information System (GIS). - John Dieter Stüwe; Christian Lenz; Gitta Domik (Computer Graphics International, 1998)

Verfahren zur Erkennung der Herzkontraktion anhand von MRT-Aufnahmen. - Christian Lenz; Rainer Brokordt; Peter Barth (DAGM-Symposium, 1998)

Nachhaltigkeitsberichterstattung: Internet als Medium zur Integration der Geschäfts- und Umweltberichterstattung von Unternehmen. - Ralf Isenmann; Christian Lenz; Heiner Müller-Merbach; Christian Reitz (Wirtschaftsinformatik, 2001)

Betriebliche Umweltberichterstattung im Internet. - Ralf Isenmann; Christian Lenz; Heiner Müller-Merbach (HMD Prax. Wirtsch., 2001)

Target Group Tailored Corporate Environmental Reporting - Stereotyping, Individualisation, Personalisation. - Ralf Isenmann; Jan Brosowski; Christian Lenz (EnviroInfo, 2003)

Applicability of Motion Estimation Algorithms for an Automatic Detection of Spiral Grain in CT Cross-Section Images of Logs. - Karl Entacher; Christian Lenz; Martin Seidel; Andreas Uhl; Rudolf Weiglmaier (CAIP, 2007)

Team NimbRo Rescue at DARPA Robotics Challenge Finals. - Sven Behnke; Max Schwarz; Tobias Rodehutskors; David Droeschel; Michael Schreiber; Angeliki Topalidou-Kyniazopoulou; David Schwarz; Christian Lenz; Sebastian Schüller; Jan Razlaw; Ivan Ivanov; Nikita Araslanov; et al. (Humanoids, 2015)

Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain. - Max Schwarz; Sebastian Schüller; Christian Lenz; David Droeschel; Sven Behnke (IAS, 2016)

Miniaturised Flame Ionisation Detector for Explosion Protection in Civil Sewerage Networks. - Jan Förster; Winfred Kuipers; Christian Koch; Christian Lenz; Steffen Ziesche; Dominik Jurkow (S-CUBE, 2016)

Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain with a Centaur-Like Robot. - Max Schwarz; Marius Beul; David Droeschel; Sebastian Schüller; Arul Selvam Periyasamy; Christian Lenz; Michael Schreiber; Sven Behnke (Frontiers Robotics AI, 2016)

NimbRo picking: Versatile part handling for warehouse automation. - Max Schwarz; Anton Milan; Christian Lenz; Aura Munoz; Arul Selvam Periyasamy; Michael Schreiber; Sebastian Schüller; Sven Behnke (ICRA, 2017)

High-precision 3D detection and reconstruction of grapes from laser range data for efficient phenotyping based on supervised learning. - Jennifer Mack; Christian Lenz; Johannes Teutrine; Volker Steinhage (Comput. Electron. Agric., 2017)

NimbRo Rescue: Solving Disaster-response Tasks with the Mobile Manipulation Robot Momaro. - Max Schwarz; Tobias Rodehutskors; David Droeschel; Marius Beul; Michael Schreiber; Nikita Araslanov; Ivan Ivanov; Christian Lenz; Jan Razlaw; Sebastian Schüller; David Schwarz; Angeliki Topalidou-Kyniazopoulou; et al. (J. Field Robotics, 2017)

Autonomous Dual-Arm Manipulation of Familiar Objects. - Dmytro Pavlichenko; Diego Rodriguez; Max Schwarz; Christian Lenz; Arul Selvam Periyasamy; Sven Behnke (Humanoids, 2018)

Fast Object Learning and Dual-arm Coordination for Cluttered Stowing, Picking, and Packing. - Max Schwarz; Christian Lenz; Germán Martín García; Seongyong Koo; Arul Selvam Periyasamy; Michael Schreiber; Sven Behnke (ICRA, 2018)

Supervised Autonomous Locomotion and Manipulation for Disaster Response with a Centaur-Like Robot. - Tobias Klamt; Diego Rodriguez; Max Schwarz; Christian Lenz; Dmytro Pavlichenko; David Droeschel; Sven Behnke (IROS, 2018)

NimbRo Rescue: Solving Disaster-Response Tasks through Mobile Manipulation Robot Momaro. - Max Schwarz; Tobias Rodehutskors; David Droeschel; Marius Beul; Michael Schreiber; Nikita Araslanov; Ivan Ivanov; Christian Lenz; Jan Razlaw; Sebastian Schüller; David Schwarz; Angeliki Topalidou-Kyniazopoulou; et al. (CoRR, 2018)

Autonomous Bimanual Functional Regrasping of Novel Object Class Instances. - Dmytro Pavlichenko; Diego Rodriguez; Christian Lenz; Max Schwarz; Sven Behnke (Humanoids, 2019)

A VR System for Immersive Teleoperation and Live Exploration with a Mobile Robot. - Patrick Stotko; Stefan Krumpen; Max Schwarz; Christian Lenz; Sven Behnke; Reinhard Klein; Michael Weinmann (IROS, 2019)

Team NimbRo at MBZIRC 2017: Autonomous valve stem turning using a wrench. - Max Schwarz; David Droeschel; Christian Lenz; Arul Selvam Periyasamy; En Yen Puang; Jan Razlaw; Diego Rodriguez; Sebastian Schüller; Michael Schreiber; Sven Behnke (J. Field Robotics, 2019)

Flexible Disaster Response of Tomorrow: Final Presentation and Evaluation of the CENTAURO System. - Tobias Klamt; Malgorzata Kamedula; Hakan Karaoguz; Navvab Kashiri; Arturo Laurenzi; Christian Lenz; Daniele Leonardis; Enrico Mingo Hoffman; Luca Muratore; Dmytro Pavlichenko; Francesco Porcini; Diego Rodriguez; et al. (IEEE Robotics Autom. Mag., 2019)

Development of a mass flow sensor based on Low Temperature Cofired Ceramics for analysis of exhaust gas up to 500 °C. - Carolin Lohrberg; Christian Lenz; Lisa Kreher; Franz Bechtold; Stefan Carstens; Gert Springer; Steffen Ziesch (IEEE SENSORS, 2020)

Autonomous Wall Building with a UGV- UAV Team at MBZIRC 2020. - Christian Lenz; Max Schwarz; Andre Rochow; Jan Razlaw; Arul Selvam Periyasamy; Michael Schreiber; Sven Behnke (SSRR, 2020)

Remote mobile manipulation with the centauro robot: Full-body telepresence and autonomous operator assistance. - Tobias Klamt; Max Schwarz; Christian Lenz; Lorenzo Baccelliere; Domenico Buongiorno; Torben Cichon; Antonio Di Guardo; David Droeschel; Massimiliano Gabardi; Malgorzata Kamedula; Navvab Kashiri; Arturo Laurenzi; et al. (J. Field Robotics, 2020)

Bimanual Telemanipulation with Force and Haptic Feedback and Predictive Limit Avoidance. - Christian Lenz; Sven Behnke (ECMR, 2021)

NimbRo Avatar: Interactive Immersive Telepresence with Force-Feedback Telemanipulation. - Max Schwarz; Christian Lenz; Andre Rochow; Michael Schreiber; Sven Behnke (IROS, 2021)

Team NimbRo's UGV Solution for Autonomous Wall Building and Fire Fighting at MBZIRC 2020. - Christian Lenz; Jan Quenzel; Arul Selvam Periyasamy; Jan Razlaw; Andre Rochow; Malte Splietker; Michael Schreiber; Max Schwarz; Finn Süberkrüb; Sven Behnke (CoRR, 2021)

Autonomous Fire Fighting with a UAV-UGV Team at MBZIRC 2020. - Jan Quenzel; Malte Splietker; Dmytro Pavlichenko; Daniel Schleich; Christian Lenz; Max Schwarz; Michael Schreiber; Marius Beul; Sven Behnke (CoRR, 2021)

Autonomous Wall-building and Firefighting: Team NimbRo's UGV Solution for MBZIRC 2020. - Christian Lenz; Jan Quenzel; Arul Selvam Periyasamy; Jan Razlaw; Andre Rochow; Malte Splietker; Michael Schreiber; Max Schwarz; Finn Süberkrüb; Sven Behnke (Field Robotics, 2022)

Handling Non-IID Data in Federated Learning: An Experimental Evaluation Towards Unified Metrics. - Marc Haller; Christian Lenz; Robin Nachtigall; Feras M. Awaysheh; Sadi Alawadi (DASC/PiCom/CBDCom/CyberSciTech, 2023)

Robust Immersive Telepresence and Mobile Telemanipulation: NimbRo wins ANA Avatar XPRIZE Finals. - Max Schwarz; Christian Lenz; Raphael Memmesheimer; Bastian Pätzold; Andre Rochow; Michael Schreiber; Sven Behnke (Humanoids, 2023)

Audio-Based Roughness Sensing and Tactile Feedback for Haptic Perception in Telepresence. - Bastian Pätzold; Andre Rochow; Michael Schreiber; Raphael Memmesheimer; Christian Lenz; Max Schwarz; Sven Behnke (SMC, 2023)

Bimanual telemanipulation with force and haptic feedback through an anthropomorphic avatar system. - Christian Lenz; Sven Behnke (Robotics Auton. Syst., 2023)

HortiBot: An Adaptive Multi-Arm System for Robotic Horticulture of Sweet Peppers. - Christian Lenz; Rohit U. Menon; Michael Schreiber; Melvin Paul Jacob; Sven Behnke; Maren Bennewitz (IROS, 2024)

Self-centering 3-DOF feet controller for hands-free locomotion control in telepresence and virtual reality. - Raphael Memmesheimer; Christian Lenz; Max Schwarz; Michael Schreiber; Sven Behnke (CoRR, 2024)

NimbRo Wins ANA Avatar XPRIZE Immersive Telepresence Competition: Human-Centric Evaluation and Lessons Learned. - Christian Lenz; Max Schwarz; Andre Rochow; Bastian Pätzold; Raphael Memmesheimer; Michael Schreiber; Sven Behnke (Int. J. Soc. Robotics, 2025)