AsyncBEV: Cross-modal Flow Alignment in Asynchronous 3D Object Detection

Shiming Wang, Holger Caesar, Liangliang Nan, Julian F.P. Kooij (paper, homepage, code)

ICLR 2026

Describing and predicting cyclists' workload in natural urban conditions through gaze, head and bicycle kinematics

Jules Ronné, Jason K. Moore; Holger Caesar (code)

Under review 2026

GaussianCaR: Gaussian Splatting for Efficient Camera-Radar Fusion

Santiago Montiel-Marín, Miguel Antunes-García, Fabio Sánchez-García, Angel Llamazares, Holger Caesar, Luis M. Bergasa (paper)

ICRA 2026

Natural Cycling Workload Dataset

Jules Ronné, Jur Nelissen, Tim Janssen, Alex Mampuya, Vince Opsteeg, Jason K. Moore, Holger Caesar (dataset)

Zenodo 2026

Learning to balance a bicycle: how do cyclists adapt to a new bicycle?

Jules Ronné, Jason K. Moore, Holger Caesar

13th International Cycling Safety Conference 2025

Inferring cyclist workload using gaze metrics for bicycle balancing tasks

Jules Ronné, Holger Caesar, Jason K. Moore

Congress of the International Society of Biomechanics 2025

Seeing Clearly, Forgetting Deeply: Revisiting Fine-Tuned Video Generators for Driving Simulation

Chun-Peng Chang, Chen-Yu Wang, Julian Schmidt, Holger Caesar, Alain Pagani (paper)

arXiv 2025

Probing the Reliability of Driving VLMs: From Inconsistent Responses to Grounded Temporal Reasoning

Chun-Peng Chang, Chen-Yu Wang, Holger Caesar, Alain Pagani

CVPR 2026 Workshop Autopilot

TerraSeg: Self-Supervised Ground Segmentation for Any LiDAR

Ted Lentsch, Santiago Montiel-Marin, Holger Caesar, Dariu M. Gavrila

CVPR 2026

Automated verification of annotated sensor data

Kok Seang Tan, Holger Caesar, Yiluan Guo, Oscar Beijbom (patent)

US Patent US20250378264A1

nuScenes Revisited: Progress and Challenges in Autonomous Driving

Whye Kit Fong, Venice Erin Liong, Kok Seang Tan, Holger Caesar (paper)

arXiv 2025

Material-informed Gaussian Splatting for 3D World Reconstruction in a Digital Twin

Andy Huynh, João Malheiro Silva, Tong Duy Son, Holger Caesar (paper)

IV 2025

ShelfOcc: Native 3D Supervision beyond LiDAR for Vision-Based Occupancy Estimation

Simon Boeder, Fabian Gigengack, Simon Roesler, Holger Caesar, Benjamin Risse (paper)

CVPR 2026

MobileOcc: A Human-Aware Semantic Occupancy Dataset for Mobile Robots

Junseo Kim, Guido Dumont, Xinyu Gao, Gang Chen, Holger Caesar, Javier Alonso-Mora (paper)

arXiv 2025

BikeScenes: Online LiDAR Semantic Segmentation for Bicycles

Denniz Goren, Holger Caesar (paper, homepage)

arXiv 2025

Towards Vision Zero: The TUM Traffic Accid3nD Dataset

Walter Zimmer, Ross Greer, Daniel Lehmberg, Marc Pavel, Holger Caesar, (...), Alois C. Knoll (paper, homepage)

arXiv 2025

Enhancing the Dependability of Autonomous Surface Vehicles through Robustness Benchmarking of Real-time Object Detection Models

Yunjia Wang, Zihao Zhang, Kaizheng Wang, Holger Caesar, Jeroen Boydens, Davy Pissoort, Mathias Verbeke (paper)

Expert Systems With Applications 2025

A Vehicle System for Navigating Among Vulnerable Road Users Including Remote Operation

Oscar de Groot, Alberto Bertipaglia, Hidde Boekema (...), Holger Caesar, (...), Dariu M. Gavrila (paper)

IV 2025

CoDa-4DGS: Dynamic Gaussian Splatting with Context and Deformation Awareness for Autonomous Driving

Rui Song, Chenwei Liang, Yan Xia, Walter Zimmer, Hu Cao, Holger Caesar, Andreas Festag, Alois Knoll (paper, homepage)

ICCV 2025

LeAP: Consistent multi-domain 3D labeling using Foundation Models

Simon Gebraad, Andras Palffy, Holger Caesar (paper)

ICRA 2025

TU Delft Mobility Futures: Four scenarios for the Dutch mobility system in 2050

Manuela Triggianese, Deborah Nas, Stefan van der Spek, Serge Hoogendoorn, Achilleas Psyllidis, Nicole van Nes, Holger Caesar, Wijnand Veeneman, Yousef Maknoon, Bilge Atasoy (paper)

TU Delft, 2025

Advancing High-Resolution and Efficient Automotive Radar Imaging through Domain-Informed 1D Deep Learning

Ruxin Zheng, Shunqiao Sun, Hongshan Liu, Holger Caesar, Honglei Chen, Jian Li (paper)

ICASSP 2025, IEEE Workshop on Machine Learning for Signal Processing (MLSP) 2025

OpenPSG: Open-set Panoptic Scene Graph Generation via Large Multimodal Models

Zijian Zhou, Zheng Zhu, Holger Caesar, Miaojing Shi (paper)

ECCV 2024

OSSA: Unsupervised One-Shot Style Adaptation

Robin Gerster, Holger Caesar, Matthias Rapp, Alexander Wolpert, Michael Teutsch (paper)

ECCV 2024 workshop

Bosch Street Dataset: A Multi-Modal Dataset with Imaging Radar for Automated Driving

Karim Armanious, Maurice Quach, Michael Ulrich, (...), Holger Caesar (paper)

arXiv 2024

UNION: Unsupervised 3D Object Detection using Object Appearance-based Pseudo-Classes

Ted Lentsch, Holger Caesar, Dariu M. Gavrila (paper)

NeurIPS 2024

Methods and systems for traffic light labelling via motion inference

Holger Caesar, Whye Kit Fong, Abirami Srinivasan, Dimitrios Panagiotis Geromichalos (patent)

US Patent US20240123996A1

NeuroNCAP: Photorealistic Closed-loop Safety Testing for Autonomous Driving

William Ljungbergh, Adam Tonderski, Joakim Johnander, Holger Caesar, Kalle Åström, Michael Felsberg, Christoffer Petersson (paper)

ECCV 2024

Multi-FEAT: Multi-Feature Edge AlignmenT for Targetless Camera-LiDAR Calibration

Bichi Zhang, Holger Caesar, Raj Thilak Rajan (paper)

ICRA 2024 workshop

Label-Efficient 3D Object Detection For Road-Side Units

Minh-Quan Dao, Holger Caesar, Julie Stephany Berrio et al. (paper)

IV 2024

DPFT: Dual Perspective Fusion Transformer for Camera-Radar-based Object Detection

Felix Fent, Andras Palffy, Holger Caesar (paper)

T-IV 2024

ICP-Flow: LiDAR Scene Flow Estimation with ICP

Yancong Lin, Holger Caesar (paper)

CVPR 2024, Winner of the Argoverse Scene Flow Challenge 2024 in the unsupervised track

Offline Tracking with Object Permanence

Xianzhong Liu, Holger Caesar (paper)

IV 2024 Oral (top 5% of all accepted papers), Best Paper Award Finalist

UniBEV: Multi-modal 3D Object Detection with Uniform BEV Encoders for Robustness against Missing Sensor Modalities

Shiming Wang, Holger Caesar, Liangliang Nan, Julian F. P. Kooij (paper)

IV 2024

Towards learning-based planning: The nuPlan benchmark for real-world autonomous driving

Napat Karnchanachari, Dimitris Geromichalos, Kok Seang Tan, (...), Holger Caesar (paper)

ICRA 2024

BaSAL: Size Balanced Warm Start Active Learning for LiDAR Semantic Segmentation

Jiarong Wei, Yancong Lin, Holger Caesar (paper)

ICRA 2024

VLPrompt: Vision-Language Prompting for Panoptic Scene Graph Generation

Zijian Zhou, Miaojing Shi, Holger Caesar (paper)

IJCV 2025

Graph Convolutional Networks for Complex Traffic Scenario Classification

Tobias Hoek, Holger Caesar, Andreas Falkoven, Tommy Johansson (paper)

NCCV 2023

Lanelet2 for nuScenes: Enabling Spatial Semantic Relationships and Diverse Map-Based Anchor Paths

Alexander Naumann, Felix Hertlein, (...), Holger Caesar (paper)

CVPR workshop 2023

Automated verification of annotated sensor data

Kok-Seang Tan, Holger Caesar, Yiluan Guo, Oscar Beijbom (patent)

US patent 20250378264A1

HiLo: Exploiting High Low Frequency Relations for Unbiased Panoptic Scene Graph Generation

Zijian Zhou, Miaojing Shi, Holger Caesar (paper, homepage)

ICCV 2023

Cross-modality Active Learning for Object Detection

Kok Seang Tan, Holger Caesar, Oscar Beijbom (patent)

US patent 17363085

Automatically choosing data samples for annotation

Holger Caesar, Oscar Beijbom (patent)

US patent 11521010

Adding tags to sensor data via a plurality of models and querying the sensor data

Qiang Xu, Oscar Beijbom, Holger Caesar et al. (patent)

US patent 11488377

SliceMatch: Geometry-guided Aggregation for Cross-View Pose Estimation

Ted Lentsch, Zimin Xia, Holger Caesar, Julian Kooij (paper, homepage, poster)

CVPR 2023

Panoptic nuScenes: A Large-Scale Benchmark for LiDAR Panoptic Segmentation and Tracking

Whye-Kit Fong, (...), Holger Caesar, (...) Abhinav Valada (paper, homepage)

ICRA 2022

nuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles

Holger Caesar, Juraj Kabzan, Kok Seang Tan et al. (paper, homepage)

CVPR workshop 2021

The Efficacy of Neural Planning Metrics: A Meta-Analysis of PKL on nuScenes

Yiluan Guo, Holger Caesar, Oscar Beijbom et al. (paper)

IROS workshop 2021

nuScenes: A Multimodal Dataset for Autonomous Driving

Holger Caesar, Varun Bankiti, Alex H. Lang et al. (paper, homepage)

CVPR 2020

PointPillars: Fast Encoders for Object Detection from Point Clouds

Alex H Lang, Sourabh Vora, Holger Caesar et al. (paper, homepage)

CVPR 2019

COCO-Stuff: Thing and Stuff Classes in Context

Holger Caesar, Jasper Uijlings, Vittorio Ferrari (paper, homepage)

CVPR 2018

Weakly Supervised Object Localization Using Things and Stuff Transfer

Miaojing Shi, Holger Caesar, Vittorio Ferrari (paper)

ICCV 2017

Region-Based Semantic Segmentation with End-to-End Training

Holger Caesar, Jasper Uijlings, Vittorio Ferrari (paper, homepage)

ECCV 2016

Joint Calibration for Semantic Segmentation

Holger Caesar, Jasper Uijlings, Vittorio Ferrari (paper)

BMVC 2015