Benjamin Busam

Contact Information

Benjamin Busam

Chair for Computer Aided Medical Procedures & Augmented Reality
Fakultät für Informatik
Technische Universität München
Boltzmannstr. 3
85748 Garching bei München
Room: MI 03.13.044
Tel. +49 (89) 289-19412

Interdisziplinäres Forschungslabor
Klinikum rechts der Isar
Technische Universität München
Ismaninger Str. 22
81675 München
Room: 01.01.03a-c

E-Mail:

Scholar

Contact Information
Brief Bio
Research Interests
Teaching
Projects
Awards and Scholarships
Talks and Presentations
Publications

Brief Bio

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
Stereo Imaging and Point Cloud Matching
AR and SLAM
Machine Learning, Deep Learning and Neural Networks, Reinforcement Learning
Projective Geometry and Invariant Theory

Teaching

Show previous 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.

Here is a list of planned, current and previous projects:

Semester Type Topic By Material

2021/22 WS PhD Project Collaborative Robotic Grasping Guangyao Zhai

2021 SS MSc Thesis Mirror-Enhanced 3D Object Detection Hanzhi Chen

2021 SS MSc Thesis Polarimetric Pose Estimation of Photometrically Challenging Objects Daoyi Gao

2021 SS MSc Thesis Deep Synthetic Polarimetric 6D Object Pose Estimation Arturo Guridi

2021 SS MSc Thesis Robotic Path Optimization for Ultrasound Compounding Viviana Sutedjo

2021 SS Guided Research Attention meets Geometry for Consistent Monocular Depth Estimation Daoyi Gao
Hanzhi Chen

2021 SS Guided Research Light Source Estimation for Photorealistic Object Rendering Alexander Epple

2020/21 WS PhD Project Robust 3D Shape Matching Hao Yu

2020/21 WS PhD Project Generic 6D Object Pose Estimation Ivan Shugurov

2020/21 WS PhD Project Monocular 6D Pose Estimation for Robotic Interactions Pengyuan Wang

2020/21 WS Practical Project Polarimetric Pose Estimation Magdalena Gawlinska
Yitong Li
Iuliia Skobleva

Semester	Type	Topic	By
2021/22 WS	PhD Project	Collaborative Robotic Grasping	Guangyao Zhai
2021 SS	MSc Thesis	Mirror-Enhanced 3D Object Detection	Hanzhi Chen
2021 SS	MSc Thesis	Polarimetric Pose Estimation of Photometrically Challenging Objects	Daoyi Gao
2021 SS	MSc Thesis	Deep Synthetic Polarimetric 6D Object Pose Estimation	Arturo Guridi
2021 SS	MSc Thesis	Robotic Path Optimization for Ultrasound Compounding	Viviana Sutedjo
2021 SS	Guided Research	Attention meets Geometry for Consistent Monocular Depth Estimation	Daoyi Gao Hanzhi Chen
2021 SS	Guided Research	Light Source Estimation for Photorealistic Object Rendering	Alexander Epple
2020/21 WS	PhD Project	Robust 3D Shape Matching	Hao Yu
2020/21 WS	PhD Project	Generic 6D Object Pose Estimation	Ivan Shugurov
2020/21 WS	PhD Project	Monocular 6D Pose Estimation for Robotic Interactions	Pengyuan Wang
2020/21 WS	Practical Project	Polarimetric Pose Estimation	Magdalena Gawlinska Yitong Li Iuliia Skobleva

Show more projects

Semester	Type	Topic	By	Material
2020/21 WS	Lab Course	Automatic Nutrition Analysis from Images	Thomas Flecken
2020/21 WS	MSc Thesis	Deforming by experience: Realistic shape morphing of unseen objects with embedding-driven geometric optimization	Mariem Khlifi
2020/21 WS	MSc Thesis	Vehicle Lane Detection from Uncalibrated Car Cabin Video (with MIT)	Andy Chen
2020/21 WS	MSc Thesis	Robust Pedestrian Tracking from Uncalibrated Car Cabin Video (with MIT)	Lisa-Marie Bernhardt
2020/21 WS	Research Project	Multi-Sensor Intelligent Surgical Workflow Analysis	Lennart Bastian
2020/21 WS	PhD Project	Collaborative Robotic Fusion for Multimodal Functional Thyroid Ultrasound	Christine Eilers
2020/21 WS	PhD Project	Completion-driven Active Reconstruction	Mahdi Hamad
2020/21 WS	PhD Project	Flexible Object Pose and Shape Estimation	Fu Li
2020/21 WS	PhD Project	Temporal Depth Sensor Fusion with Multiple Modalities	HyunJun Jung
2020/21 WS	PhD Project	Instance-Agnostic Monocular 6D Pose Estimation	Fabian Manhardt
2020/21 WS	Practical Project	Temporally Consistent Video Depth	Daoyi Gao Hanzhi Chen
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	PhD Project	Simulataneous Localization and Mapping in Challenging Environments	Patrick Ruhkamp
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 2020 Outstanding Reviewer Award
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

Talks and Presentations

Markerless Inside-Out Tracking for 3D Ultrasound Compounding, International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI), Workshop on Point-of-Care Ultrasound. Granada, Spain. September 2018. Presentation.
Camera Pose Filtering with Local Regression Geodesics on the Riemannian Manifold of Dual Quaternions, International Conference on Computer Vision (ICCV), Workshop on Multiview Relationships in 3D Data. Venice, Italy. October 2017. Poster, Presentation.
Quaternionic Upsampling: Hyperspherical Techniques for 6 D-o-F Pose Tracking, International Conference on 3DVision (3DV). Stanford University, California, USA. October 2016. Poster.
A Stereo Vision Approach for Cooperative Robotic Movement Therapy, International Conference on Computer Vision (ICCV), Workshop on Assistive Computer Vision and Robotics (ACVR). Santiago, Chile. December 2015. Poster.

Show previous Talks and Presentations

Publications

2021

P. Wang, F. Manhardt, L. Minciullo, L. Garattoni, S. Meier, N. Navab, B. Busam
DemoGrasp: Few-Shot Learning for Robotic Grasping with Human Demonstration
International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, 2021
The first two authors contributed equally to this paper. (bib)

2020

D. Hernandez-Juarez, S. Parisot, B. Busam, A. Leonardis, G. Slabaugh, S. McDonagh^?
A Multi-Hypothesis Approach to Color Constancy
Conference on Computer Vision and Pattern Recognition (CVPR), Seattle, USA, June 2020 (bib)

M. Saleh, S. Dehghani, B. Busam, N. Navab, F. Tombari
Graphite: Graph-Induced feaTure Extraction for Point Cloud Registration
3DV Oral 2020 (bib)

B. Busam, H. J. Jung, N. Navab
I Like to Move It: 6D Pose Estimation as an Action Decision Process
arXiv, September 2020 (bib)

F. Manhardt, G. Wang, B. Busam, M. Nickel, S. Meier, L. Minciullo, X. Ji, N. Navab
CPS++: Improving Class-level 6D Pose and Shape Estimation From Monocular Images With Self-Supervised Learning
arXiv/2003.05848v3, September 2020 (bib)

A. Lopez-Rodriguez, B. Busam, K. Mikolajczyk
Project to Adapt: Domain Adaptation for Depth Completion from Noisy and Sparse Sensor Data
Asian Conference on Computer Vision (ACCV), Kyoto, Japan, November 2020 [oral]. (bib)

P. Ruhkamp, R. Gong, N. Navab, B. Busam
DynaMiTe: A Dynamic Local Motion Model with Temporal Constraints for Robust Real-Time Feature Matching
arXiv, July 2020 (bib)

A. Barroso-Laguna, Y. Verdie, B. Busam, K. Mikolajczyk
HDD-Net: Hybrid Detector Descriptor with Mutual Interactive Learning
Asian Conference on Computer Vision (ACCV), Kyoto, Japan, November 2020 (bib)

2019

F. Manhardt, D. Arroyo, C. Rupprecht, B. Busam, T. Birdal, N. Navab, F. Tombari
Explaining the Ambiguity of Object Detection and 6D Pose From Visual Data
International Conference on Computer Vision (ICCV), Seoul, Korea, October 2019 (bib)

B. Busam, M. Hog, S. McDonagh^?, G. Slabaugh
SteReFo: Efficient Image Refocusing with Stereo Vision
International Conference on Computer Vision Workshop (ICCVW), Seoul, Korea, November 2019 [oral]. (bib)

T. Birdal, B. Busam, N. Navab, S. Ilic, P. Sturm
Generic Primitive Detection in Point Clouds Using Novel Minimal Quadric Fits
IEEE Transactions on Pattern Analysis and Machine Intelligence (T-PAMI), 2019 (bib)

2018

B. Busam, P. Ruhkamp, S. Virga, B. Lentes, J. Rackerseder, N. Navab, C. Hennersperger
Markerless Inside-Out Tracking for 3D Ultrasound Compounding
International Conference on Medical Image Computing and Computer Assisted Interventions (MICCAI), Point-of-Care Ultrasound, Granada, Spain, September 2018 [oral]. (bib)

T. Birdal, B. Busam, N. Navab, S. Ilic, P. Sturm
A Minimalist Approach to Type-Agnostic Detection of Quadrics in Point Clouds
IEEE Computer Vision and Pattern Recognition (CVPR), Salt Lake City, United States, June 2018 (bib)

2017

B. Busam, T. Birdal, N. Navab
Camera Pose Filtering with Local Regression Geodesics on the Riemannian Manifold of Dual Quaternions
International Conference on Computer Vision Workshop (ICCVW) on Multiview Relationships in 3D Data, Venice, Italy, October 2017 [oral]. (bib)

2016

B. Busam, M. Esposito, B. Frisch, N. Navab
Quaternionic Upsampling: Hyperspherical Techniques for 6 D-o-F Pose Tracking
International Conference on 3DVision (3DV), Stanford University, California, USA, October 2016 (bib)

M. Esposito, B. Busam, C. Hennersperger, J. Rackerseder, N. Navab, B. Frisch
Multimodal US-Gamma Imaging using Collaborative Robotics for Cancer Staging Biopsies
International Journal of Computer Assisted Radiology and Surgery (bib)

2015

B. Busam, M. Esposito, S. Che'Rose, N. Navab, B. Frisch
A Stereo Vision Approach for Cooperative Robotic Movement Therapy
International Conference on Computer Vision Workshop (ICCVW), Santiago, Chile, December 2015 [oral]. (bib)

M. Esposito, B. Busam, C. Hennersperger, J. Rackerseder, A. Lu, N. Navab, B. Frisch
Cooperative Robotic Gamma Imaging: Enhancing US-guided Needle Biopsy
Proceedings of the 18th International Conference on Medical Image Computing and Computer Assisted Interventions (MICCAI), Munich, Germany, October 2015 [oral]. (bib)

UsersForm
Title:	M.Sc.
Circumference of your head (in cm):
Firstname:	Benjamin
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Lastname:	Busam
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Birthday:	07.09.1987
Nationality:	Cosmopolitan
Languages:	English, German, French
Groups:	Computer Vision, IFL
Expertise:	Registration/Visualization, Computer Vision
Position:	Scientific Staff
Status:	Active
Emailbefore:	b.busam
Emailafter:	tum.de
Room:	MI 03.13.044
Telephone:	+49 (89) 289 19412
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		Chair for Computer Aided Medical Procedures & Augmented Reality Lehrstuhl für Informatikanwendungen in der Medizin & Augmented Reality
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2021
	P. Wang, F. Manhardt, L. Minciullo, L. Garattoni, S. Meier, N. Navab, B. Busam DemoGrasp: Few-Shot Learning for Robotic Grasping with Human Demonstration International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, 2021 The first two authors contributed equally to this paper. (bib)
2020
	D. Hernandez-Juarez, S. Parisot, B. Busam, A. Leonardis, G. Slabaugh, S. McDonagh^? A Multi-Hypothesis Approach to Color Constancy Conference on Computer Vision and Pattern Recognition (CVPR), Seattle, USA, June 2020 (bib)
	M. Saleh, S. Dehghani, B. Busam, N. Navab, F. Tombari Graphite: Graph-Induced feaTure Extraction for Point Cloud Registration 3DV Oral* 2020* (bib)
	B. Busam, H. J. Jung, N. Navab I Like to Move It: 6D Pose Estimation as an Action Decision Process arXiv, September 2020 (bib)
	F. Manhardt, G. Wang, B. Busam, M. Nickel, S. Meier, L. Minciullo, X. Ji, N. Navab CPS++: Improving Class-level 6D Pose and Shape Estimation From Monocular Images With Self-Supervised Learning arXiv/2003.05848v3, September 2020 (bib)
	A. Lopez-Rodriguez, B. Busam, K. Mikolajczyk Project to Adapt: Domain Adaptation for Depth Completion from Noisy and Sparse Sensor Data Asian Conference on Computer Vision (ACCV), Kyoto, Japan, November 2020 [oral]. (bib)
	P. Ruhkamp, R. Gong, N. Navab, B. Busam DynaMiTe: A Dynamic Local Motion Model with Temporal Constraints for Robust Real-Time Feature Matching arXiv, July 2020 (bib)
	A. Barroso-Laguna, Y. Verdie, B. Busam, K. Mikolajczyk HDD-Net: Hybrid Detector Descriptor with Mutual Interactive Learning Asian Conference on Computer Vision (ACCV), Kyoto, Japan, November 2020 (bib)
2019
	F. Manhardt, D. Arroyo, C. Rupprecht, B. Busam, T. Birdal, N. Navab, F. Tombari Explaining the Ambiguity of Object Detection and 6D Pose From Visual Data International Conference on Computer Vision (ICCV), Seoul, Korea, October 2019 (bib)
	B. Busam, M. Hog, S. McDonagh^?, G. Slabaugh SteReFo: Efficient Image Refocusing with Stereo Vision International Conference on Computer Vision Workshop (ICCVW), Seoul, Korea, November 2019 [oral]. (bib)
	T. Birdal, B. Busam, N. Navab, S. Ilic, P. Sturm Generic Primitive Detection in Point Clouds Using Novel Minimal Quadric Fits IEEE Transactions on Pattern Analysis and Machine Intelligence (T-PAMI), 2019 (bib)
2018
	B. Busam, P. Ruhkamp, S. Virga, B. Lentes, J. Rackerseder, N. Navab, C. Hennersperger Markerless Inside-Out Tracking for 3D Ultrasound Compounding International Conference on Medical Image Computing and Computer Assisted Interventions (MICCAI), Point-of-Care Ultrasound, Granada, Spain, September 2018 [oral]. (bib)
	T. Birdal, B. Busam, N. Navab, S. Ilic, P. Sturm A Minimalist Approach to Type-Agnostic Detection of Quadrics in Point Clouds IEEE Computer Vision and Pattern Recognition (CVPR), Salt Lake City, United States, June 2018 (bib)
2017
	B. Busam, T. Birdal, N. Navab Camera Pose Filtering with Local Regression Geodesics on the Riemannian Manifold of Dual Quaternions International Conference on Computer Vision Workshop (ICCVW) on Multiview Relationships in 3D Data, Venice, Italy, October 2017 [oral]. (bib)
2016
	B. Busam, M. Esposito, B. Frisch, N. Navab Quaternionic Upsampling: Hyperspherical Techniques for 6 D-o-F Pose Tracking International Conference on 3DVision (3DV), Stanford University, California, USA, October 2016 (bib)
	M. Esposito, B. Busam, C. Hennersperger, J. Rackerseder, N. Navab, B. Frisch Multimodal US-Gamma Imaging using Collaborative Robotics for Cancer Staging Biopsies International Journal of Computer Assisted Radiology and Surgery (bib)
2015
	B. Busam, M. Esposito, S. Che'Rose, N. Navab, B. Frisch A Stereo Vision Approach for Cooperative Robotic Movement Therapy International Conference on Computer Vision Workshop (ICCVW), Santiago, Chile, December 2015 [oral]. (bib)
	M. Esposito, B. Busam, C. Hennersperger, J. Rackerseder, A. Lu, N. Navab, B. Frisch Cooperative Robotic Gamma Imaging: Enhancing US-guided Needle Biopsy Proceedings of the 18th International Conference on Medical Image Computing and Computer Assisted Interventions (MICCAI), Munich, Germany, October 2015 [oral]. (bib)

THIS WEBPAGE IS DEPRECATED - please visit our new website