Picture of Arne Peters

Arne Peters, M.Sc.

Technical University of Munich

Postal address

Boltzmannstr. 3
85748 Garching b. München

Place of employment

Informatics 6 - Chair of Robotics, Artificial Intelligence and Real-time Systems (Prof. Knoll)

Schleißheimerstraße 90a(8111)
85748 Garching b. München

  • Phone: +49 (89) 289 - 18136
  • Room: 8111.EG.018
  • arne.peters(at)tum.de

Curriculum Vitae

Arne Peters studied computational visualistics at the University of Koblenz from 2010 to 2016. He wrote his Master's thesis on Detection of Unknown, Convex Objects in multi-view RGB-D Data at KUKA robotics in Augsburg. After reaching his M.Sc. degree he joined the Chair of Robotics, Artificial Intelligence and Real-time Systems at the Technical University of Munich (TUM), where he is currently researching on computer vision for robotic application. While his works include navigation and manipulation, motion planning, 3D reconstruction and human-robot interaction, his major focus lies on the developing self-calibrating systems, aiming to bring robots one step closer to full autonomy.


Open Thesis Topics
Using Renyi Entropy for Extrinsic Calibration of a Laser Scanner on a Robot ArmMaster's Thesis
Undistorting Scans of a Moving 3d Laser Sensor Using Squared Renyi EntropyMaster's Thesis
Benchmarking Different Approaches for Calibrating a Laser Scanner to a Robot ArmBachelor's / Master's Thesis


  Please also have a look at the I6 thesis guidelines.
  If you have a proposal for a different topic feel free to contact me. Please note that I don't supervise external theses that require me to accept non-disclosure agreements.

Completed and Ongoing Theses
Title Author Submission Type
Calibration of a Robotic Arm Using Optical Motion Capturing Kai-Fabian Treder 2021 Bachelor's Thesis
Precise 3D position and orientation estimation of dynamic objects using an observer LiDAR Simon Weigl 2020 Master's Thesis
Egomotion estimation and correction for a directional single beam LiDAR Mykolas Gustas 2020 Master's Thesis
Automated Testing for the OpenCall Web-platform Jörn von Henning 2019 Bachelor's Thesis
Enhanced Strategies for Handling Fleets in Constrained Environments Natalie Reppekus 2018 Master's Thesis
Implementation of a GPS Based Safety and Controller Test Environment Ashwath Narayan Murali 2018 Master's Thesis
Weighting of various driving behaviors using artificial intelligence methods Anna Mittermair 2017 Bachelor's Thesis
Leg Detection and Tracking in 2D Depth Data Bianca Forkel 2016 Bachelor's Thesis


  • Zagar, Bare Luka; Yurtsever, Ekim; Peters, Arne; Knoll., Alois C.: Point Cloud Registration with Object-Centric Alignment. IEEE Access, 2022, 1-1 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Vasiliu, Laurentiu; Cortis, Keith; McDermott, Ross; Kerr, Aphra; Peters, Arne; Hesse, Marc; Hagemeyer, Jens; Belpaeme, Tony; McDonald, John; Villing, Rudi; Mileo, Alessandra; Capulto, Annalina; Scriney, Michael; Griffiths, Sascha; Koumpis, Adamantios; Davis, Brian: CASIE – Computing affect and social intelligence for healthcare in an ethical and trustworthy manner. Paladyn, Journal of Behavioral Robotics 12 (1), 2021, 437-453 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Cop, Konrad P.; Peters, Arne; Žagar, Bare L; Hettegger, Daniel; Knoll, Alois C: New Metrics for Industrial Depth Sensors Evaluation for Precise Robotic Applications. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021 more… BibTeX Full text (mediaTUM)
  • Peters, Arne; Schmidt, Adam; Knoll, Alois C.: Extrinsic Calibration of an Eye-In-Hand 2D LiDAR Sensor in Unstructured Environments Using ICP. IEEE Robotics and Automation Letters 5 (2), 2020, 929--936 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Icer, Esra; Weisenburger, Sebastian; Zechmair, Michael; Peters, Arne; Michalos, George; Knoll, Alois; Makris, Sotiris: ESMERA-European SMEs Robotics Applications. ISR 2018; 50th International Symposium on Robotics, 2018 more… BibTeX Full text (mediaTUM)
  • Seib, Viktor; Manthe, Stephan; Holzmann, Jana; Memmesheimer, Raphael; Peters, Arne; Bonse, Markus; Polster, Florian; Rezvan, Baharak; Riewe, Katrin; Roosen, Malte; others: RoboCup 2015 - homer@UniKoblenz (Germany). Technical report, University of Koblenz-Landau, 2015, more… BibTeX
  • Seib, Viktor; Memmesheimer, Raphael; Jakowlewa, Tatjana; Nagel, David; Gard, Niklas; Dünnebier, Denise; Eckert, Anatoli; Kreckel, Eva; Kreutz, Alexander; Mykhalchyshyna, Ivanna; Rettler, Greta; Sattler, Florian; Veith, Alruna; Knauf, Malte; Peters, Arne; Paulus, Dietrich: RoboCup 2014 - homer@UniKoblenz (Germany). Technical report, University of Koblenz-Landau, 2014, more… BibTeX
  • Seib, Viktor; Kathe, Florian; McStay, Daniel; Manthe, Stephan; Peters, Arne; Jöbgen, Benedikt; Memmesheimer, Raphael; Jakowlewa, Tatjana; Vieweg, Caroline; Stümper, Sebastian; Günther, Sebastian; Müller, Simon; Veith, Alruna; Kusenbach, Michael; Knauf, Malte; Paulus, Dietrich: RoboCup 2013 - homer@UniKoblenz (Germany). Universität Koblenz-Landau, www.uni-koblenz.de, 2013, more… BibTeX
  • Gottron, Thomas; Scherp, Ansgar; Krayer, Bastian; Peters, Arne: LODatio: using a schema-level index to support users infinding relevant sources of linked data. Proceedings of the seventh international conference on Knowledge capture, 2013 more… BibTeX
  • Gottron, Thomas; Scherp, Ansgar; Krayer, Bastian; Peters, Arne: LODatio: A schema-based retrieval system for linked open data at web-scale. Extended Semantic Web Conference, 2013 more… BibTeX
  • Gottron, Thomas; Scherp, Ansgar; Krayer, Bastian; Peters, Arne: Get the google feeling: Supporting users in finding relevant sources of linked open data at web-scale. 2012 more… BibTeX