Dr. Benjamin Busam

Technical University of Munich

Informatics 16 - Chair of Computer Aided Medical Procedures (Prof. Navab)

Postal address

Postal:
Boltzmannstr. 3
85748 Garching b. München

News

2 Papers accepted for ECCV 2022
2 Papers accepted for IROS / RA-L 2022
13 Papers from CAMP accepted for CVPR 2022 ( six of those with significant contributions from Ben )
6 Papers accepted at ICRA / RA-L 2022
3 Papers accepted at 3DV 2021
3DV Outstanding Reviewer Award received for 3DV 2021 (and 2020) with only 0.56% of Reviewers
1 Paper accepted at NeurIPS 2021

Curriculum Vitae

Benjamin Busam is a Senior Research Scientist with the Technical University of Munich coordinating the Computer Vision activities at the Chair for Computer Aided Medical Procedures. Formerly Head of Research at FRAMOS Imaging Systems, he led the 3D Computer Vision Team at Huawei Research, London from 2018 to 2020. Benjamin studied Mathematics at TUM. In his subsequent postgraduate programme, he continued in Mathematics and Physics at ParisTech, France and at the University of Melbourne, Australia, before he graduated with distinction at TU Munich in 2014. In continuation to a mathematical focus on projective geometry and 3D point cloud matching, he now works on 2D/3D computer vision for pose estimation, depth mapping and mobile AR as well as multi-modal sensor fusion. For his work on adaptable high-resolution real-time stereo tracking he received the EMVA Young Professional Award 2015 from the European Machine Vision Association and was awarded Innovation Pioneer of the Year 2019 by Noah's Ark Laboratory, London.

Research Interests

3D Computer Vision
Sensor Fusion
Efficient Depth Mapping & Pose Estimation
Stereo Imaging and Point Cloud Matching
AR and SLAM
Machine Learning, Neural Models, Reinforcement Learning
Projective & Differential Geometry

Teaching

Projects

There are always available topics in 3D vision for Master's theses and PhD students with potential industry support.
Our industrial partners are constantly looking for motivated working students, graduates and young professionals. Internships in different fields of application in computer vision are offered.
If you are interested in writing your thesis in 3D vision or some industry experience don't hesitate in contacting me.

Patrick Ruhkamp: Simulataneous Localization and Mapping in Challenging Environments
HyunJun Jung: Temporal Depth Sensor Fusion with Multiple Modalities
Mahdi Saleh: Flexible 3D Matching using Graphs
Christine Eilers: Collaborative Robotic Fusion for Multimodal Functional Thyroid Ultrasound
Fu Li: Flexible Object Pose and Shape Estimation
Ivan Shugurov: Generic 6D Object Pose Estimation
Lennart Bastian: Multi-Sensor Intelligent Surgical Workflow Analysis
Pengyuan Wang: Monocular 6D Pose Estimation for Robotic Interactions
Hao Yu: Robust 3D Matching
Tobias Czempiel: Surgical Workflow Analysis with Time Series Data
Shishir Vutukur: Shape Prediction with RGB-D Data
Guangyao Zhai: Collaborative Robotic Grasping
Shervin Dehghani: Bio-Medical 3D Robotic Applications
Stefano Gasperini: Multi-modal Sensor Fusion for Autonomous Driving
Alexander Lehner: Robust 3D Detection through Adversarial Learning
Mahdi Hamad: Completion-driven Active Reconstruction
Konstantinos Zacharis: 6G for Computer Vision-based Telemedicine
Mert Asim Karaoglu: Object Pose Estimation in Surgical Environments

Semester	Type	Topic	By
2021/22 WS	MSc Thesis	NeRF-Enhanced 3D Object Detection	Hanzhi Chen
2021/22 WS	MSc Thesis	Polarimetric Pose Estimation of Photometrically Challenging Objects	Daoyi Gao
2021/22 WS	MSc Thesis	Image-driven Nutrition Data Analysis	Thomas Flecken
2021 SS	MSc Thesis	Deep Synthetic Polarimetric 6D Object Pose Estimation	Arturo Guridi
2021 SS	MSc Thesis	Deforming by experience: Realistic shape morphing of unseen objects with embedding-driven geometric optimization	Mariem Khlifi
2021 SS	MSc Thesis	Augmenting Anatomies through Animal Tracking	Arian Mehrfard
2021 SS	MSc Thesis	Vehicle Lane Detection from Uncalibrated Car Cabin Video (with MIT)	Andy Chen
2021 SS	MSc Thesis	Robust Pedestrian Tracking from Uncalibrated Car Cabin Video (with MIT)	Lisa-Marie Bernhardt

until	Type	Topic	By	Material
2021 SS	PhD Project	Instance-Agnostic Monocular 6D Pose Estimation	Fabian Manhardt
2021 SS	Guided Research	Attention meets Geometry for Consistent Monocular Depth Estimation	Daoyi Gao Hanzhi Chen
2021 SS	MSc Thesis	Robotic Path Optimization for Ultrasound Compounding	Viviana Sutedjo
2020/21 WS	Practical Project	Polarimetric Pose Estimation	Magdalena Gawlinska Yitong Li Iuliia Skobleva
2020/21 WS	Practical Project	Temporally Consistent Video Depth	Daoyi Gao Hanzhi Chen
2020/21 WS	Lab Course	Automatic Nutrition Analysis from Images	Thomas Flecken
2020 SS	MSc Thesis	Self-supervised Depth Estimation from Polarization Imagery	Barnabé Mas
2020 SS	Practical Project	Depth-aware Mixed Reality: Capture the AR-Flag	Muhammad Faizan Ihsan B. Balaban Jeremias Neth
2019/20 WS	MSc Thesis	6D Pose Tracking as an Action Decision Process	HyunJun Jung
2019 SS	MSc Thesis	A Geometric View of Rotation Representations in Computer Vision and Deep Learning	Konstantinos Zacharis
2018/19 WS	Practical Project	Observing Environment Statistics - Anomaly Detection	Elias Marquart Tobias Eder Varnika Tyagi
2018/19 WS	Practical Project	Mobile Indoor Navigation	Nour AlOrjany Ritvik Ranadive Stefano Gasperini
2018/19 WS	Seminar Presentation	CodeSLAM - Learning a Compact, Optimisable Representation for Dense Visual SLAM	Hooriya Anam	Paper
2018/19 WS	Lab Course	Spatio-temporal Depth Estimation in Real-Time	HyunJun Jung	Project Proposal KickOff
2018 SS	Working Student	Depth Accuracy Improvements for Active Stereo Sensing	HyunJun Jung	Results
2018 SS	Working Student	A modular implementation of feature based SLAM	Miguel Trasobares Baselga
2018 SS	MSc Thesis	Object Pose Estimation with PointNet	Michael Haberl	Presentation Thesis
2018 SS	Lab Course	Real-time Gaze Estimation	Matthieu Hongtao Zhang	Project Proposal Requirement Presentation Intermediate Presentation Final Presentation
2018 SS	Lab Course	Motion Interpolation and Sensor Fusion	Antoine Keller Violeta Sofia Morales Lennart Bastian	Project Proposal Poster Report Final Presentation
2017/18 WS	MSc Thesis	Hybrid sensor fusion with dual quaternion based EKF for pose estimation in real-time	Charalampos Papathanasis	KickOff Presentation Thesis
2017/18 WS	Interdisciplinary Project	A mixed reality application for needle targeting with trifocal stereo in real-time	Thomas Sennebogen	KickOff Final Presentation
2017/18 WS	Lab Course	Dyna-Eye: A dynamic 2D-3D Stereo Viewer	Ruiqi Gong	Project Proposal Requirement Presentation Intermediate Presentation Final Presentation
2017/18 WS	Lab Course	Gaze Estimation with Pupil Tracking in Real-Time	Tomas Bartipan	Project Proposal Requirement Presentation Intermediate Presentation Final Presentation
2017/18 WS	Seminar Presentation	Geometric Deep Learning on Graphs and Manifolds Using Mixture Model CNNs	Tobias Valinski	Paper Report Presentation
2017/18 WS	BSc Thesis	Pose-aware rendering of live ultrasound data for mixed medical AR	Felix Scheidhammer	KickOff Final Presentation Thesis
2017 SS	Lab Course	Disparity Determination in Stereo Vision	Lu Sang Michael Haberl Raphael Ullmann	MidTerm Presentation Poster Final Presentation
2017 SS	Lab Course	Magic Eye: An adaptive 2D-3D Stereo Viewer	Aleksandr Bulankin	Project Proposal Intermediate Presentation Final Presentation
2017 SS	Lab Course	Pose Interpolation with Dual Quaternion Series	Ekaterina Kanaeva	Project Proposal Intermediate Presentation Final Presentation
2017 SS	Lab Course	Activity Classification with Persistent Homology Barcodes	Ester Molero Hidalgo	Project Proposal Intermediate Presentation Final Presentation
2016/17 WS	MSc Thesis	Monocular Reconstruction and Tracking in non-rigid Environments	Patrick Ruhkamp	KickOff Thesis
2016/17	MSc Thesis	Natural marker extraction and learning for binocular images and 6D pose estimation	Mahdi Saleh	KickOff Final Presentation Thesis
2016/17	IFL/FRAMOS Project	Hybrid opto-inertial Tracking Systems	Faisal Kalim	Final Presentation
2016/17 WS	Lab Course	Automatic Pose Synchronization	Charalampos Papathanasis	Project Proposal Project Requirement Presentation Intermediate Presentation Final Presentation
2016/17 WS	Lab Course	A virtual multi-view Optical Tracking System	Mahdi Hamad	Project Proposal Project Requirement Presentation Intermediate Presentation Final Presentation
2016/17 WS	Lab Course	FMtrack - Optical Tracking System for Medical Procedural Simulator	Ramona Schneider	Project Proposal Project Requirement Presentation Intermediate Presentation Final Presentation
2016/17 WS	Seminar Presentation	Fusion4D: Real-Time Performance Capture of Challenging Scenes	Felix Scheidhammer	Report Presentation
2016/17 WS	Seminar Presentation	Learning With Side Information Through Modality Hallucination	Nan Yang	Report Presentation
2016 SS	Lab Course Project	A hybrid opto-inertial Tracking System Prototype	Faisal Kalim	Project Proposal Project Requirement Presentation Intermediate Presentation Final Presentation
2016 SS	Lab Course Project	A vision based anthropometric Scanner for dynamic Scenes	Ahmed El-Gazzar	Project Proposal Project Requirement Presentation Intermediate Presentation Final Presentation
2015/16 WS	Lab Course Project	Needle tracking for ultrasound-guided biopsies with inside-out vision	Thomas Sennebogen	Project Proposal Project Requirement Presentation Intermediate Presentation Final Presentation
2015/16 WS	Lab Course Project	Visualizing the volumetric accuracy of medical tracking solutions	Stefan Matl	Project Proposal Project Requirement Presentation Intermediate Presentation Final Presentation
2015/16 WS	Seminar Presentation	Predicting Depth, Surface Normals and Semantic Labels with a Common Multi-Scale Convolutional Architecture	Christoph Baur	Report Presentation
2015/16 WS	Seminar Presentation	Computing the Stereo Matching Cost with a Convolutional Neural Network	Markus Herb	Report Presentation
2015 SS	Lab Course Project	Reducing the orthopaedic risk of cycling with a vision-based anthropometric scanner	Mahdi Saleh	Project Proposal Project Requirement Presentation Intermediate Presentation Final Presentation
2014/15 WS	Seminar Presentation	Rapid object detection using a boosted cascade of simple features	Christos Stoilas	Report Presentation
2014/15 WS	Seminar Presentation	Distinctive image features from scale-invariant keypoints	Amin Ahantab	Report Presentation
2014 SS	Bachelor's Thesis	Monocular Real Time Tracking With Passive Circular Markers	Ahmed Matar	Thesis

Awards and Scholarships

3DV 2021 Outstanding Reviewer Award ( 5% of Reviewers, 0.56% of Reviewers to receive this Award in 2020 and 2021 )
3DV 2020 Outstanding Reviewer Award ( 9% of Reviewers )
Innovation Pioneer of the Year 2019. Noah's Ark Laboratory, London
Huawei Future Star 2019
ICCV MVR3D Best Student Paper Award 2017
IJCARS MICCAI Best Paper Award 2016
EMVA Young Professional Award 2015

Publications

2022
2021
2020
2019
2018
2017
2016
2015

2022

Alexander Lehner; Stefano Gasperini; Alvaro Marcos-Ramiro; Michael Schmidt; Mohammad-Ali Nikouei Mahani; Nassir Navab; Benjamin Busam; Federico Tombari: 3D-VField: Adversarial Augmentation of Point Clouds for Domain Generalization in 3D Object Detection. IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2022 mehr…
Sutedjo, Viviana; Tirindelli, Maria; Eilers, Christine; Simson, Walter; Busam, Benjamin; Navab, Nassir: Acoustic Shadowing Aware Robotic Ultrasound: Lighting up the Dark. IEEE Robotics and Automation Letters 7 (2), 2022, 1808-1815 mehr…
Zielke, John; Eilers, Christine; Busam, Benjamin; Weber, Wolfgang; Navab, Nassir; Wendler, Thomas: RSV: Robotic Sonography for Thyroid Volumetry. IEEE Robotics and Automation Letters 7 (2), 2022, 3342-3348 mehr…

2021

Czempiel, T.; Paschali, M.; Kim, S.; Ostler, D.; Busam, B.; Navab, N.: OperA: Attention-Regularized Transformers for Surgical Phase Recognition. arXiv preprint arXiv:2103.03873, 2021 mehr…
Gao, Daoyi; Li, Yitong; Ruhkamp, Patrick; Skobleva, Iuliia; Wysocki, Magdalena; Jung, HyunJun; Wang, Pengyuan; Guridi, Arturo; Navab, Nassir; Busam, Benjamin: Polarimetric Pose Prediction. arXiv PrePrint, 2021 mehr…
Jung, HyunJun; Brasch, Nikolas; Leonardis, Ales; Navab, Nassir; Busam, Benjamin: Wild ToFu : Improving Range and Quality of Indirect Time-of-Flight Depth with RGB Fusion in Challenging Environments. Proceedings of the IEEE International Conference on 3D Vision (3DV), 2021, 2021 mehr…
Ruhkamp, Patrick; Gao, Daoyi; Chen, Hanzhi; Navab, Nassir; Busam, Benjamin: Spatial-Temporal Attention through Self-Supervised Geometric Guidance - Poster. 2021 mehr…
Ruhkamp, Patrick; Gao, Daoyi; Chen, Hanzhi; Navab, Nassir; Busam, Benjamin: Attention meets Geometry: Geometry Guided Spatial-Temporal Attention for Consistent Self-Supervised Monocular Depth Estimation - Supplementary Material. 2021 mehr…
Ruhkamp, Patrick; Gao, Daoyi; Chen, Hanzhi; Navab, Nassir; Busam, Benjamin: Attention meets Geometry: Geometry Guided Spatial-Temporal Attention for Consistent Self-Supervised Monocular Depth Estimation. International Conference on 3D Vision , 2021 mehr…
Stefano Gasperini; Jan Haug; Mohammad-Ali Nikouei Mahani; Alvaro Marcos-Ramiro; Nassir Navab; Benjamin Busam; Federico Tombari: CertainNet: Sampling-free Uncertainty Estimation for Object Detection. IEEE Robotics and Automation Letters (RA-L), 2021 mehr…
Stefano Gasperini; Patrick Koch; Vinzenz Dallabetta; Nassir Navab; Benjamin Busam; Federico Tombari: R4Dyn: Exploring Radar for Self-Supervised Monocular Depth Estimation of Dynamic Scenes. Proceedings of the IEEE International Conference on 3D Vision (3DV), 2021, 2021 mehr…
Wang, P.; Manhardt, F.; Minciullo, L.; Garattoni, L.; Meier, S.; Navab, N.; Busam, B.: DemoGrasp: Few-Shot Learning for Robotic Grasping with Human Demonstration. , 2021 mehr…
Yu, Hao; Li, Fu; Saleh, Mahdi; Busam, Benjamin; Ilic, Slobodan: CoFiNet: Reliable Coarse-to-fine Correspondences for Robust PointCloud Registration. Advances in Neural Information Processing Systems 34, 2021 mehr…

2020

Barroso-Laguna, A.; Verdie, Y.; Busam, B.; Mikolajczyk, K.: HDD-Net: Hybrid Detector Descriptor with Mutual Interactive Learning. Asian Conference on Computer Vision, 2020 mehr…
Busam, B.; Jung, H. J.; Navab, N.: I Like to Move It: 6D Pose Estimation as an Action Decision Process. arXiv, 2020 mehr…
Hernandez-Juarez, D.; Parisot, S.; Busam, B.; Leonardis, A.; Slabaugh, G.; McDonagh, S.: A Multi-Hypothesis Approach to Color Constancy. Conference on Computer Vision and Pattern Recognition (CVPR), 2020 mehr…
Lopez-Rodriguez, A.; Busam, B.; Mikolajczyk, K.: Project to Adapt: Domain Adaptation for Depth Completion from Noisy and Sparse Sensor Data. Asian Conference on Computer Vision, 2020 mehr…
Manhardt, F.; Wang, G.; Busam, B.; Nickel, M.; Meier, S.; Minciullo, L.; Ji, X.; Navab, N.: CPS++: Improving Class-level 6D Pose and Shape Estimation From Monocular Images With Self-Supervised Learning. arXiv preprint arXiv:2003.05848v3, 2020 mehr…
Ruhkamp, P.; Gong, R.; Navab, N.; Busam, B.: DynaMiTe: A Dynamic Local Motion Model with Temporal Constraints for Robust Real-Time Feature Matching. arXiv, 2020 mehr…
Saleh, M.; Dehghani, S.; Busam, B.; Navab, N.; Tombari, F.: Graphite: Graph-Induced feaTure Extraction for Point Cloud Registration. 2020 International Conference on 3D Vision (3DV), 2020 mehr…

2019

Birdal, T.; Busam, B.; Navab, N.; Ilic, S.; Sturm, P.: Generic Primitive Detection in Point Clouds Using Novel Minimal Quadric Fits. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2019 mehr…
Busam, B.; Hog, M.; McDonagh, S.; Slabaugh, G.: SteReFo: Efficient Image Refocusing with Stereo Vision. IEEE International Conference on Computer Vision Workshop (ICCVW), 2019 mehr…
Manhardt, F.; Arroyo, D.; Rupprecht, C.; Busam, B.; Birdal, T.; Navab, N.; Tombari, F.: Explaining the Ambiguity of Object Detection and 6D Pose From Visual Data. , 2019 mehr…

2018

Birdal, T.; Busam, B.; Navab, N.; Ilic, S.; Sturm, P.: A Minimalist Approach to Type-Agnostic Detection of Quadrics in Point Clouds. Computer Vision and Pattern Recognition (CVPR), 2018 mehr…
Busam, B.; Ruhkamp, P.; Virga, S.; Lentes, B.; Rackerseder, J.; Navab, N.; Hennersperger, C.: Markerless Inside-Out Tracking for 3D Ultrasound Compounding. Simulation, Image Processing, and Ultrasound Systems for Assisted Diagnosis and Navigation, Springer International Publishing, 2018 mehr…

2017

Busam, B.; Birdal, T.; Navab, N.: Camera Pose Filtering with Local Regression Geodesics on the Riemannian Manifold of Dual Quaternions. IEEE International Conference on Computer Vision Workshop (ICCVW), 2017 mehr…

2016

Busam, B.; Esposito, M.; Frisch, B.; Navab, N.: Quaternionic Upsampling: Hyperspherical Techniques for 6 D-o-F Pose Tracking. IEEE International Conference on 3DVision, 2016 mehr…
Esposito, M.; Busam, B.; Hennersperger, C.; Rackerseder, J.; Navab, N.; Frisch, B.: Multimodal US-Gamma Imaging using Collaborative Robotics for Cancer Staging Biopsies. International Journal of Computer Assisted Radiology and Surgery, 2016, 1--11 mehr…

2015

Busam, B.; Esposito, M.; Che'Rose, S.; Navab, N.; Frisch, B.: A Stereo Vision Approach for Cooperative Robotic Movement Therapy. IEEE International Conference on Computer Vision Workshop (ICCVW), 2015 mehr…
Esposito, M.; Busam, B.; Hennersperger, C.; Rackerseder, J.; Lu, A.; Navab, N.; Frisch, B.: Cooperative Robotic Gamma Imaging: Enhancing US-guided Needle Biopsy. Proceedings of the 18th International Conference on Medical Image Computing and Computer Assisted Interventions (MICCAI), 2015 mehr…