Variable Pallet Pick-Up for Automatic Guided Vehicles in Industrial Environments. - Daniel Lecking; Oliver Wulf; Bernardo Wagner (ETFA, 2006)

Robust Self-Localization in Industrial Environments based on 3D Ceiling Structures. - Oliver Wulf; Daniel Lecking; Bernardo Wagner (IROS, 2006)

Localization in a wide range of industrial environments using relative 3D ceiling features. - Daniel Lecking; Oliver Wulf; Bernardo Wagner (ETFA, 2008)

Lokalisationsverfahren autonomer mobiler Systeme mittels 2D- und 3D-Umgebungsmodellen im industriellen Umfeld auf der Basis einer 3D-Umgebungserfassung. - Daniel Lecking; Bernardo Wagner (Künstliche Intell., 2011)