A map framework using crowd-sourced data for indoor positioning and navigation. - Thomas Graichen; Erik Gruschka; Ulrich Heinkel (M&N, 2017)

Occupancy Grid Map Generation from OSM Indoor Data for Indoor Positioning Applications. - Thomas Graichen; Rebecca Schmidt; Julia Richter; Ulrich Heinkel (GISTAM, 2020)

Dynamic indoor navigation and orientation system for people with impairments. - Julia Richter; Jeanine Lorenz; Maria Costantino; Verena Traubinger; Nico Tauchmann; Thomas Graichen; Ulrich Heinkel (MuC, 2020)

Improved Indoor Positioning by Means of Occupancy Grid Maps Automatically Generated from OSM Indoor Data. - Thomas Graichen; Julia Richter; Rebecca Schmidt; Ulrich Heinkel (ISPRS Int. J. Geo Inf., 2021)

Development of a Platform-independent Renderer for the Rendering of OpenStreetMap Indoor Maps in Flutter. - Julia Richter; Robin Thomas 004; David Lange; Thomas Graichen; Ulrich Heinkel (VISIGRAPP (1: GRAPP), 2022)

Collecting Human Motion Data in Large and Occlusion-Prone Environments using Ultra-Wideband Localization. - Janik Kaden; Maximilian Hilger; Tim Schreiter; Marius Schaab; Thomas Graichen; Andrey Rudenko; Ulrich Heinkel; Achim J. Lilienthal (CoRR, 2025)