Nakath, David

Mitarbeiter

Dr.-Ing. David Nakath

FB 2: Marine Biogeochemie
FE Marine Geosysteme

Postdoc Oceanic Machine Vision

Büro: Gebäude 8b / Raum 202

Telefon: +49 431 600-2272

E-Mail: dnakath(at)geomar.de

Forschungsinteressen

Unterwasser Computer Vision
- Physikalisch korrekte Simulation von Unterwasserszenen
- Kalibrierung und Parameterschätzung in Unterwasserszenen
- Radiometrisch wie auch Geometrisch

Parameteridentifikation und Farbrestauration

Verschiedene Beleuchtungsszenarien der Wassersäule

dynamic

Komplexe Bildgebungsmodelle

Autonomous Systems
- Probabilistic Robotics
- Aktives Messen / Reduktion von Unsicherheit

Publikationen

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2022 (6)

Refractive geometry for underwater domes. She, M.; Nakath, D.; Song, Y.; and Köser, K. ISPRS Journal of Photogrammetry and Remote Sensing, 183: 525–540. 2022.
link bibtex

@article{she2022refractive,
  title={Refractive geometry for underwater domes},
  author={She, Mengkun and Nakath, David and Song, Yifan and K{\"o}ser, Kevin},
  journal={ISPRS Journal of Photogrammetry and Remote Sensing},
  volume={183},
  pages={525--540},
  year={2022},
  publisher={Elsevier}
}

An Optical Digital Twin for Underwater Photogrammetry. Nakath, D.; She, M.; Song, Y.; and Köser, K. PFG–Journal of Photogrammetry, Remote Sensing and Geoinformation Science, 90(1): 69–81. 2022.
link bibtex 1 download

@article{nakath2022optical,
  title={An Optical Digital Twin for Underwater Photogrammetry},
  author={Nakath, David and She, Mengkun and Song, Yifan and K{\"o}ser, Kevin},
  journal={PFG--Journal of Photogrammetry, Remote Sensing and Geoinformation Science},
  volume={90},
  number={1},
  pages={69--81},
  year={2022},
  publisher={Springer International Publishing}
}

A Vision on a UNESCO Global Geopark at the Southeastern Dead Sea in Jordan—How Natural Hazards May Offer Geotourism Opportunities. Al-Halbouni, D.; AlRabayah, O.; Nakath, D.; and Rüpke, L. Land, 11(4): 553. 2022.
link bibtex

@article{al2022vision,
  title={A Vision on a UNESCO Global Geopark at the Southeastern Dead Sea in Jordan—How Natural Hazards May Offer Geotourism Opportunities},
  author={Al-Halbouni, Djamil and AlRabayah, Osama and Nakath, David and R{\"u}pke, Lars},
  journal={Land},
  volume={11},
  number={4},
  pages={553},
  year={2022},
  publisher={MDPI}
}

Optical Imaging and Image Restoration Techniques for Deep Ocean Mapping: A Comprehensive Survey. Song, Y.; Nakath, D.; She, M.; and Köser, K. PFG–Journal of Photogrammetry, Remote Sensing and Geoinformation Science,1–25. 2022.
link bibtex

@article{song2022optical,
  title={Optical Imaging and Image Restoration Techniques for Deep Ocean Mapping: A Comprehensive Survey},
  author={Song, Yifan and Nakath, David and She, Mengkun and K{\"o}ser, Kevin},
  journal={PFG--Journal of Photogrammetry, Remote Sensing and Geoinformation Science},
  pages={1--25},
  year={2022},
  publisher={Springer International Publishing}
}

Towards Cross Domain Transfer Learning for Underwater Correspondence Search. Schöntag, P.; Nakath, D.; Röhrl, S.; and Köser, K. In International Conference on Image Analysis and Processing, pages 461–472, 2022. Springer, Cham
link bibtex

@inproceedings{schontag2022towards,
  title={Towards Cross Domain Transfer Learning for Underwater Correspondence Search},
  author={Sch{\"o}ntag, Patricia and Nakath, David and R{\"o}hrl, Stefan and K{\"o}ser, Kevin},
  booktitle={International Conference on Image Analysis and Processing},
  pages={461--472},
  year={2022},
  organization={Springer, Cham}
}

Digital twinning in the ocean-chanllenges in multimodal sensing and multiscale fusion based on faithful visual models. Grossmann, V.; Nakath, D.; Urlaub, M.; Oppelt, N.; Koch, R.; and Köser, K. ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 4: 345–352. 2022.
link bibtex

@article{grossmann2022digital,
  title={Digital twinning in the ocean-chanllenges in multimodal sensing and multiscale fusion based on faithful visual models},
  author={Grossmann, Vasco and Nakath, David and Urlaub, Morelia and Oppelt, Natascha and Koch, Reinhard and K{\"o}ser, Kevin},
  journal={ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences},
  volume={4},
  pages={345--352},
  year={2022},
  publisher={Copernicus Publications (EGU)}
}

2021 (4)

Optimization of multi-led setups for underwater robotic vision systems. Song, Y.; Sticklus, J.; Nakath, D.; Wenzlaff, E.; Koch, R.; and Köser, K. In International Conference on Pattern Recognition, pages 390–397, 2021. Springer, Cham
link bibtex

@inproceedings{song2021optimization,
  title={Optimization of multi-led setups for underwater robotic vision systems},
  author={Song, Yifan and Sticklus, Jan and Nakath, David and Wenzlaff, Emanuel and Koch, Reinhard and K{\"o}ser, Kevin},
  booktitle={International Conference on Pattern Recognition},
  pages={390--397},
  year={2021},
  organization={Springer, Cham}
}

Deep Sea Robotic Imaging Simulator. Song, Y.; Nakath, D.; She, M.; Elibol, F.; and Köser, K. In Proceedings of the Computer Vision for Automated Analysis of Underwater Imagery Workshop (CVAUI)., pages 375–389, 2021. Springer
link bibtex

@inproceedings{song2021deep,
  title={Deep Sea Robotic Imaging Simulator},
  author={Song, Yifan and Nakath, David and She, Mengkun and Elibol, Furkan and K{\"o}ser, Kevin},
  booktitle={Proceedings of the Computer Vision for Automated Analysis of Underwater Imagery Workshop (CVAUI).},
  pages={375--389},
  year={2021},
  organization={Springer}
}

In-situ joint light and medium estimation for underwater color restoration. Nakath, D.; She, M.; Song, Y.; and Köser, K. In Proceedings of the IEEE/CVF International Conference on Computer Vision, pages 3731–3740, 2021.
link bibtex

@inproceedings{nakath2021situ,
  title={In-situ joint light and medium estimation for underwater color restoration},
  author={Nakath, David and She, Mengkun and Song, Yifan and K{\"o}ser, Kevin},
  booktitle={Proceedings of the IEEE/CVF International Conference on Computer Vision},
  pages={3731--3740},
  year={2021}
}

MaCal-Macro Lens Calibration and the Focus Stack Camera Model. Weng, X.; She, M.; Nakath, D.; and Köser, K. In 2021 International Conference on 3D Vision (3DV), pages 136–144, 2021. IEEE
link bibtex

@inproceedings{weng2021macal,
  title={MaCal-Macro Lens Calibration and the Focus Stack Camera Model},
  author={Weng, Xiangyu and She, Mengkun and Nakath, David and K{\"o}ser, Kevin},
  booktitle={2021 International Conference on 3D Vision (3DV)},
  pages={136--144},
  year={2021},
  organization={IEEE}
}

2020 (3)

Active asteroid-SLAM. Nakath, D.; Clemens, J.; and Rachuy, C. Journal of Intelligent & Robotic Systems, 99(2): 303–333. 2020.
link bibtex

@article{nakath2020active,
  title={Active asteroid-SLAM},
  author={Nakath, David and Clemens, Joachim and Rachuy, Carsten},
  journal={Journal of Intelligent \& Robotic Systems},
  volume={99},
  number={2},
  pages={303--333},
  year={2020},
  publisher={Springer Netherlands}
}

Light Pose Calibration for Camera-light Vision Systems. Song, Y.; Elibol, F.; She, M.; Nakath, D.; and Köser, K. arXiv preprint arXiv:2006.15389. 2020.
link bibtex

@article{song2020light,
  title={Light Pose Calibration for Camera-light Vision Systems},
  author={Song, Yifan and Elibol, Furkan and She, Mengkun and Nakath, David and K{\"o}ser, Kevin},
  journal={arXiv preprint arXiv:2006.15389},
  year={2020}
}

Deep Sea Robotic Imaging Simulator for UUV Development. Song, Y.; Nakath, D.; She, M.; Elibol, F.; and Köser, K. CoRR. 2020.
link bibtex

@article{song2020deep,
  title={Deep Sea Robotic Imaging Simulator for UUV Development.},
  author={Song, Yifan and Nakath, David and She, Mengkun and Elibol, Furkan and K{\"o}ser, Kevin},
  journal={CoRR},
  year={2020}
}

2019 (1)

Active Perception for Autonomous Systems: In a Deep Space Navigation Scenario. Nakath, D. Ph.D. Thesis, Universität Bremen, 2019.
link bibtex

@phdthesis{nakath2019active,
  title={Active Perception for Autonomous Systems: In a Deep Space Navigation Scenario},
  author={Nakath, David},
  year={2019},
  school={Universit{\"a}t Bremen}
}

2018 (1)

Multi-sensor fusion and active perception for autonomous deep space navigation. Nakath, D.; Clemens, J.; and Schill, K. In 2018 21st International Conference on Information Fusion (FUSION), pages 2596–2605, 2018. IEEE
link bibtex

@inproceedings{nakath2018multi,
  title={Multi-sensor fusion and active perception for autonomous deep space navigation},
  author={Nakath, David and Clemens, Joachim and Schill, Kerstin},
  booktitle={2018 21st International Conference on Information Fusion (FUSION)},
  pages={2596--2605},
  year={2018},
  organization={IEEE}
}

2017 (1)

Rigid body attitude control based on a manifold representation of direction cosine matrices. Nakath, D.; Clemens, J.; and Rachuy, C. In Journal of Physics: Conference Series, volume 783, pages 012040, 2017. IOP Publishing
link bibtex

@inproceedings{nakath2017rigid,
  title={Rigid body attitude control based on a manifold representation of direction cosine matrices},
  author={Nakath, David and Clemens, Joachim and Rachuy, Carsten},
  booktitle={Journal of Physics: Conference Series},
  volume={783},
  number={1},
  pages={012040},
  year={2017},
  organization={IOP Publishing}
}

2016 (1)

Optimal rotation sequences for active perception. Nakath, D.; Rachuy, C.; Clemens, J.; and Schill, K. In Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications 2016, volume 9872, pages 20–32, 2016. SPIE
link bibtex

@inproceedings{nakath2016optimal,
  title={Optimal rotation sequences for active perception},
  author={Nakath, David and Rachuy, Carsten and Clemens, Joachim and Schill, Kerstin},
  booktitle={Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications 2016},
  volume={9872},
  pages={20--32},
  year={2016},
  organization={SPIE}
}

2015 (3)

KaNaRiA: Identifying the challenges for cognitive autonomous navigation and guidance for missions to small planetary bodies. Probst, A.; Peytavi, G.; Nakath, D.; Schattel, A.; Rachuy, C.; Lange, P.; Clemens, J; Echim, M; Schwarting, V; Srini-vas, A; and others In International Astronautical Congress (IAC), 2015.
link bibtex

@inproceedings{probst2015kanaria,
  title={KaNaRiA: Identifying the challenges for cognitive autonomous navigation and guidance for missions to small planetary bodies},
  author={Probst, Alena and Peytavi, Graciela and Nakath, David and Schattel, Anne and Rachuy, Carsten and Lange, Patrick and Clemens, J and Echim, M and Schwarting, V and Srini-vas, A and others},
  booktitle={International Astronautical Congress (IAC)},
  year={2015}
}

Adaptive information selection in images: Efficient naive bayes nearest neighbor classification. Reineking, T.; Kluth, T.; and Nakath, D. In International Conference on Computer Analysis of Images and Patterns, pages 350–361, 2015. Springer, Cham
link bibtex

@inproceedings{reineking2015adaptive,
  title={Adaptive information selection in images: Efficient naive bayes nearest neighbor classification},
  author={Reineking, Thomas and Kluth, Tobias and Nakath, David},
  booktitle={International Conference on Computer Analysis of Images and Patterns},
  pages={350--361},
  year={2015},
  organization={Springer, Cham}
}

Autonomous orbit navigation for a mission to the asteroid main belt. Peytavı́, G González; Clemens, J; Nakath, D; Probst, A; Schill, F.; and Eissfeller, B In In. Proc. of the 66th International Astronautical Congress, 2015.
link bibtex

@inproceedings{peytavi2015autonomous,
  title={Autonomous orbit navigation for a mission to the asteroid main belt},
  author={Peytav{\'\i}, G Gonz{\'a}lez and Clemens, J and Nakath, D and Probst, A and Schill, FRK and Eissfeller, B},
  booktitle={In. Proc. of the 66th International Astronautical Congress},
  year={2015}
}

2014 (4)

Virtual Reality for Simulating Autonomous Deep-Space Navigation and Mining. Büskens, C.; Clemens, J.; Eissfeller, B.; Förstner, R.; Gadzicki, K.; Peytavi, G. G.; Lange, P.; Nakath, D.; Probst, A.; Rachuy, C.; and others In ICAT-EGVE (Posters and Demos), 2014.
link bibtex

@inproceedings{buskens2014virtual,
  title={Virtual Reality for Simulating Autonomous Deep-Space Navigation and Mining.},
  author={B{\"u}skens, Christof and Clemens, Joachim and Eissfeller, Bernd and F{\"o}rstner, Roger and Gadzicki, Konrad and Peytavi, Graciela Gonzales and Lange, Patrick and Nakath, David and Probst, Alena and Rachuy, Carsten and others},
  booktitle={ICAT-EGVE (Posters and Demos)},
  year={2014}
}

Active sensorimotor object recognition in three-dimensional space. Nakath, D.; Kluth, T.; Reineking, T.; Zetzsche, C.; and Schill, K. In International Conference on Spatial Cognition, pages 312–324, 2014. Springer
link bibtex

@inproceedings{nakath2014active,
  title={Active sensorimotor object recognition in three-dimensional space},
  author={Nakath, David and Kluth, Tobias and Reineking, Thomas and Zetzsche, Christoph and Schill, Kerstin},
  booktitle={International Conference on Spatial Cognition},
  pages={312--324},
  year={2014},
  organization={Springer}
}

Affordance-based object recognition using interactions obtained from a utility maximization principle. Kluth, T.; Nakath, D.; Reineking, T.; Zetzsche, C.; and Schill, K. In European Conference on Computer Vision, pages 406–412, 2014. Springer, Cham
link bibtex

@inproceedings{kluth2014affordance,
  title={Affordance-based object recognition using interactions obtained from a utility maximization principle},
  author={Kluth, Tobias and Nakath, David and Reineking, Thomas and Zetzsche, Christoph and Schill, Kerstin},
  booktitle={European Conference on Computer Vision},
  pages={406--412},
  year={2014},
  organization={Springer, Cham}
}

@inproceedings{buskens2014virtual,
  title={Virtual Reality for Simulating Autonomous Deep-Space Navigation and Mining.},
  author={B{\"u}skens, Christof and Clemens, Joachim and Eissfeller, Bernd and F{\"o}rstner, Roger and Gadzicki, Konrad and Peytavi, Graciela Gonzales and Lange, Patrick and Nakath, David and Probst, Alena and Rachuy, Carsten and others},
  booktitle={ICAT-EGVE (Posters and Demos)},
  year={2014}
}

2013 (1)

Sensorimotor integration using an information gain strategy in application to object recognition tasks. Kluth, T; Nakath, D; Reineking, T; Zetzsche, C; and Schill, K Perception ECVP abstract, 42: 223–223. 2013.
link bibtex

@article{kluth2013sensorimotor,
  title={Sensorimotor integration using an information gain strategy in application to object recognition tasks},
  author={Kluth, T and Nakath, D and Reineking, T and Zetzsche, C and Schill, K},
  journal={Perception ECVP abstract},
  volume={42},
  pages={223--223},
  year={2013},
  publisher={Pion Ltd}
}

2012 (1)

A distributed online learning tracking algorithm. Schrader, S.; Dambek, M.; Block, A.; Brending, S.; Nakath, D.; Schmid, F.; and van de Ven, J. In 2012 12th International Conference on Control Automation Robotics & Vision (ICARCV), pages 1083–1088, 2012. IEEE
link bibtex

@inproceedings{schrader2012distributed,
  title={A distributed online learning tracking algorithm},
  author={Schrader, Sascha and Dambek, Markus and Block, Adrian and Brending, Stefan and Nakath, David and Schmid, Falko and van de Ven, Jasper},
  booktitle={2012 12th International Conference on Control Automation Robotics \& Vision (ICARCV)},
  pages={1083--1088},
  year={2012},
  organization={IEEE}
}