Online vehicle detection using deep neural networks and lidar based preselected image patches. - Stefan Lange; Fritz Ulbrich; Daniel Goehring (Intelligent Vehicles Symposium, 2016)

Extracting path graphs from vehicle trajectories. - Fritz Ulbrich; Simon Rotter; Daniel Goehring; Raúl Rojas 001 (Intelligent Vehicles Symposium, 2016)

Flexible unit A-star trajectory planning for autonomous vehicles on structured road maps. - Zahra Boroujeni; Daniel Goehring; Fritz Ulbrich; Daniel Neumann; Raúl Rojas 001 (ICVES, 2017)

Online vehicle detection using Haar-like, LBP and HOG feature based image classifiers with stereo vision preselection. - Daniel Neumann; Tobias Langner 002; Fritz Ulbrich; Dorothee Spitta; Daniel Goehring (Intelligent Vehicles Symposium, 2017)

Stable timed elastic bands with loose ends. - Fritz Ulbrich; Daniel Goehring; Tobias Langner 002; Zahra Boroujeni; Raúl Rojas 001 (Intelligent Vehicles Symposium, 2017)

Traffic Mapping for Autonomous Cars. - Nicolai Steinke; Fritz Ulbrich; Daniel Goehring; Raúl Rojas 001 (Intelligent Vehicles Symposium, 2018)

Following Cars With Elastic Bands. - Fritz Ulbrich; Stephan Sundermann; Tobias Langner 002; Daniel Goehring; Raúl Rojas 001 (Intelligent Vehicles Symposium, 2018)

Swarm-Based Trajectory Planning for Autonomous Cars (Schwarmbasierte Trajektorienplanung für Autonome Fahrzeuge) - Fritz Ulbrich (2022)