Institute for Anthropomatics and Robotics - Intelligent Process Automation and Robotics Lab
Stephan Irgenfried

Dipl-Ing. (FH) M.Sc. Stephan Irgenfried

  • Research Assistant
  • group: Steuerung und Regelung für Robotersysteme (SRR)


Personal Information

place of birth Vilshofen an der Donau
nationality deutsch
marital status married



1998-2002 University of Applied Sciences Wiesbaden "TV and media engineering",  Dipl.-Ing. (FH)

Diploma-Thesis: "Development of software components for distribution of multimedia content in a DVB network" , EU research project  "MAMBO" (IST 2000 - IV.5.2)

2000-2002: Internship and Diploma-Thesis at T-Systems Nova, Darmstadt. Research work on videocompression and streaming applications

2002-2003 Software engineer for Ferchau Engineering, Frankfurt a. Main

2003-2008 Software engineer and project manager for Böwe Systec AG, Augsburg (Postal-Automation, OCR technologies, Databases)

2008-2009 University of Applied Sciences Mannheim "Master of Information Technology", M.Sc.

Master-Thesis: "3D-Mesurement of dynamic scenes using color fringe projection"

since Jan. 2010: Research Assistant at the KIT. Institute for Process Control and Robotics



"Friedrich-Dessauer-Preis" of the VDE Rhein-Main for the best Diploma-Thesis (2003)

"Konrad Adenauer Stiftung", Stipendiat (2000 - 2002)


Object filter for organising the distribution of postal items
European Patent EP1577806

Method for immediate transmission of audio-visual messages to groups of receivers
European Patent Application EP1467567


Research Projects:

2000 - 2001: EU-Projekt (Program IST) "Videogateway": A video gateway between the next generation broadband Internet and the current narrowband Internet for live and on-demand access

2001 - 2002: EU-Projekt (Program IST) "MAMBO" (Multi-services Management Wireless Network With Bandwith Optimisation): The key objective of the MAMBO project is to develop, implement and assess an universal, open and scalable platform that manage the distribution of high quality interactive multimedia DVB / IP services through a terrestrial access network, to mobile and residential end-users by an optimal allocation of the allowable bandwidth.

2009: BMWi-Project (Program Pro-INNO II) "QuaGuss": Development of a fast and flexible 3D-mesaurement sensor that is robust against object surface

2010: BMBF-Project (Program "KMU innovativ") "CADaVISION": Simulation of industrial computer vision applications using CAD, surface simulation and a knowledge database.

2012: BMBF-Projet "MAID" (Mobility Aid for Handicapped Persons): Development of a electromechanical device to support handicapped persons to stay mobile

Research Areas:

- Machine vision applications
- Synthetic Ground Truth for machine vision application
- 3D Technologies



Inspection Planning for Optimized Coverage of Geometrically Complex Surfaces.
Mohammadikaji, M.; Bergmann, S.; Irgenfried, S.; Beyerer, J.; Dachsbacher, C.; Worn, H.
2018. 2018 Workshop on Metrology for Industry 4.0 and IoT, MetroInd 4.0 and IoT 2018; Brescia; Italy; 16 April 2018 through 18 April 2018, 52–57, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/METROI4.2018.8428313
A versatile hardware and software toolset for computer aided inspection planning of machine vision applications.
Irgenfried, S.; Wörn, H.; Bergmann, S.; Mohammadikajii, M.; Beyerer, J.; Dachsbacher, C.
2018. 38th International Conference on Information Systems Architecture and Technology, ISAT 2017; Szklarska Poreba; Poland; 17 September 2017 through 19 September 2017. Ed.: L. Borzemski, 326–335, Springer. doi:10.1007/978-3-319-67220-5_30
Image formation simulation for computer-aided inspection planning of machine vision systems.
Irgenfried, S.; Bergmann, S.; Mohammadikaji, M.; Beyerer, J.; Dachsbacher, C.; Wörn, H.
2017. Automated Visual Inspection and Machine Vision II - SPIE Optical Metrology, Munich, Germany, 25 - 29 June 2017. Ed.: J. Beyerer, 1033406, Society of Photo-optical Instrumentation Engineers (SPIE). doi:10.1117/12.2269166
CAD-basierter Workflow für den semi-automatischen Entwurf optischer Inspektionssysteme [CAD based workflow for semi-automatic design of optical inspection systems].
Irgenfried, S.; Wörn, H.; Bergmann, S.; Mohammadikaji, M.; Beyerer, J.; Dachsbacher, C.
2017. Automatisierungstechnik, 65 (6), 426–439. doi:10.1515/auto-2017-0044
Probabilistic surface inference for industrial inspection planning.
Mohammadikaji, M.; Bergmann, S.; Irgenfried, S.; Beyerer, J.; Dachsbacher, C.; Wörn, H.
2017. 17th IEEE Winter Conference on Applications of Computer Vision, Santa Rosa, United States, 24. - 31. March, 2017, 1008–1016, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/WACV.2017.117
Performance Characterization in Automated Optical Inspection using CAD Models and Graphical Simulations.
Mohammadikaji, M.; Bergmann, S.; Irgenfried, S.; Beyerer, J.; Dachsbacher, C.; Wörn, H.
2016. XXX. Messtechnisches Symposium, Hannover, 15. - 16. September 2016, 141–150, Oldenbourg Verlag. doi:10.1515/9783110494297-019
A Phenomenological Approach to Integrating Gaussian Beam Properties and Speckle into a Physically-Based Renderer.
Bergmann, S.; Mohammadikaji, M.; Irgenfried, S.; Wörn, H.; Beyerer, J.; Dachsbacher, C.
2016. VMV 2016 : 21th International Symposium on Vision, Modeling and Visualization, Bayreuth, Germany, 10-12 October 2016. Ed.: M. Hullin, 179–186, Eurographics Association. doi:10.2312/vmv.20161357
A framework for uncertainty propagation in 3D shape measurement using laser triangulation.
Mohammadikaji, M.; Bergmann, S.; Irgenfried, S.; Beyerer, J.; Dachsbacher, C.; Worn, H.
2016. 2016 IEEE International Instrumentation and Measurement Technology Conference, I2MTC 2016, Taipei; Taiwan, 23 May 2016 through 26 May 2016, Art.Nr.: 7520324, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/I2MTC.2016.7520324
Hybrid rendering architecture for realtime and photorealistic simulation of robot-assisted surgery.
Müller, S.; Bihlmaier, A.; Irgenfried, S.; Wörn, H.
2016. Studies in Health Technology and Informatics, 220, 245–250. doi:10.3233/978-1-61499-625-5-245
Acquisition and storage of multispectral material signatures – Workflow design and implementation.
Irgenfried, S.; Hock, J.
2015. OCM 2015 - Optical Characterization of Materials - conference proceedings. Hrsg.: J. Beyerer, F. Puente León, T. Längle, 123–135, KIT Scientific Publishing. doi:10.5445/IR/1000082547
Acquisition and storage of multispectral material signatures.
Irgenfried, S.; Hock, J.
2015. OCM 2015 - Optical Characterization of Materials - conference proceedings, 123–135, KIT Scientific Publishing
Probabilistic Modeling of Real-World Scenes in a Virtual Environment.
Dittrich, F.; Irgenfried, S.; Wörn, H.
2015. Proceedings of GRAPP 2015 - 10th International Conference on Computer Graphics Theory and Applications; VISIGRAPP, 11 March 2015 through 14 March 2015, Berlin; Germany. Ed.: P. Richard, 165–173, SciTePress
A multimodal human machine interface for a robotic mobility aid.
Schneider, J.; Irgenfried, S.; Stork, W.; Wörn, H.
2015. Proceedings of The 6th International Conference on Automation, Robotics and Applications (ICARA 2015), 17-19 Feb. 2015, Queenstown, New Zealand. Ed.: D. Bailey, 289–294, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICARA.2015.7081162
Uncertainty estimation for kinematic laser tracker measurements incorporating the control information of an industrial robot.
Ulrich, T.; Irgenfried, S.
2014. 2014 International Conference on Indoor Positioning and Indoor Navigation (IPIN 2014), Busan, South Korea, October 27 - 30, 2014, 68–76, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IPIN.2014.7275469
Realization and evaluation of image processing tasks based on synthetic sensor data: 2 use cases.
Irgenfried, S.; Dittrich, F.; Wörn, H.
2014. Forum Bildverarbeitung 2014. Hrsg.: F. Puente León, 35–46, KIT Scientific Publishing
A Flexible Design for System Control and Communications in a Robotic Mobility Assistand for Handicapped Persons.
Irgenfried, S.; Schneider, J.; Wörn, H.; Stork, W.; Guhl, T.; Schellhase, M.
2014. 19th International Conference on Transformative Science & Engineering (SDPS’14), Kuching, Malaysia, June 15-19, 2014
A Technical system for physical activation of persons with mild cognitive impairment.
Stogl, D.; Hein, B.; Meyer, P.; Armbruster, O.; Irgenfried, S.; Wörn, H.
2014. Technische Unterstützung für Menschen mit Demenz : Symposium 30.09. - 01.10.2013. Hrsg.: T. Schultz, 123–143, KIT Scientific Publishing
Motion Control and Fall Prevention for an Active Walker Mobility Aid.
Irgenfried, S.; Wörn, H.
2014. New Advances in Mechanisms, Transmissions and Applications - Proceedings of the Second Conference (MeTrApp’13), Bilbao, Spain, October 2-4, 2013. Ed.: V. Petuya, 157–164, Springer Netherlands. doi:10.1007/978-94-007-7485-8_20
A framework for storage, visualization and analysis of multispectral data.
Irgenfried, S.; Negara, C.
2013. OCM 2013 - Optical Characterization of Materials - Conference Proceedings, Karlsruhe, 6. - 7. März 2013. Ed.: J. Beyerer, F. Puente León, T. Längle, 203–214, KIT Scientific Publishing. doi:10.5445/IR/1000034040
Multi-Fingered Reactive Grasping with Active Guided Camera Systems.
Wörn, H.; Irgenfried, S.; Haase, T.
2012. Proceedings of the 27th Annual ACM Symposium on Applied Computing, March 26-30, 2012, 268–273, Association for Computing Machinery (ACM)
Reflectance Modeling in Machine Vision: Applications in Image Analysis and Synthesis.
Gruna, R.; Irgenfried, S.; Solari, F.; Chessa, M.; Sabatini, S.
2012. Machine Vision - Applications and Systems. Ed.: F. Solari, 227–246, InTech
CADaVISION: A Simulation Framework for Machine Vision Prototyping.
Irgenfried, S.; Tchouchenkov, I.; Wörn, H.
2011. Brno University of Technology, Faculty of Information Technology: CSSim 2011, 2nd International Conference on Computer Modelling and Simulation. CD-ROM : Brno, Czech Republic, 5 - 7 September 2011 Brno: Brno University of Technology, Faculty of Information Technology, 2011, 59–67, University of Technology
3D Measurement of Moving Objects using Quotient Image Stereo.
Bakirov, T.; Irgenfried, S.; Safronov, K.; Tchouchenkov, I.; Wörn, H.
2010. Joint 41st International Symposium on Robotics and 6th German Conference on Robotics 2010 (ISR/ROBOTIK), Munich, Germany, 7-9 June 2010. Vol.: 1, 130–135, Curran Associates, Inc