Organizing the "1st Workshop on Maritime Computer Vision", featuring paper submissions, challenges and keynotes. Check it out at

Benjamin Kiefer


Since 2019
PhD student at the Department of Cognitive Systems, University of Tübingen

M. Sc. Mathematics, University of Tübingen

2013 - 2016
B. Sc. Mathematics, University of Tübingen

Research Interests

Currently, I'm working on Deep Learning methods for Object Detection. More specifially, I try to improve Object Detectors by means of freely available meta/environmental data. This meta data helps object detectors be more robust.

Avalon Project

I'm part of the Avalon project. This project's goal is to build autonomous vision-based AIs aboard a UAV to assist in maritime emergencies at north sea and baltic sea.

Generating Synthetic Data for UAV scenarios via DeepGTAV

With ever more realistic simulations, we can generate data synthetically to augment or even replace real data entirely. For this reason, jointly with David Ott, we adapted and improved the tool DeepGTAV to work for UAV scenarios. If you are looking for the synthetically generated object detection data for UAV scenarios, find it here. Find the tool here.

SeaDronesSee Benchmark

We created an object detection and tracking benchmark for the use case of maritime search and rescue. Find it here or more information on the corresponding Github repository.

Neuro Meeting - Paper reading club

The Neuro meeting is a kind of paper reading club, which meets roughly every two weeks to discuss research and applications all kinds of foundations and novelties of neural networks. The central goal of this group is to broaden the horizon and keep an overview over this fast-paced field.

See a list of proposed and past topics at

If you are interested to listen to or hold a talk or join regularly just drop me a mail.


[1] Timon Höfer, Benjamin Kiefer, Martin Meßmer, Andreas Zell. "HyperPosePDF - Hypernetworks Predicting the Probability Distribution on SO(3)" (2022, preprint)
[2] Benjamin Kiefer, Andreas Zell. "Fast Region of Interest Proposals on Maritime UAVs" (2022, preprint)
[3] Benjamin Kiefer*, David Ott* and Andreas Zell. "Leveraging Synthetic Data in Object Detection on Unmanned Aerial Vehicles", 2022 26th International Conference on Pattern Recognition (ICPR). (*equal contribution)
[4] L. A. Varga*, B. Kiefer*, M. Messmer*, and A. Zell, “SeaDronesSee: A Maritime Benchmark for Detecting Humans in Open Water,” in Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), January 2022, pp. 2260–2270. (*equal contribution)
[5] Martin Meßmer*, Benjamin Kiefer* and Andreas Zell. "Gaining Scale Invariance in UAV Bird's Eye View Object Detection by Adaptive Resizing" , 2022 26th International Conference on Pattern Recognition (ICPR). (*equal contribution)
[6] B. Kiefer*, M. Messmer* and A. Zell, "Diminishing Domain Bias by Leveraging Domain Labels in Object Detection on UAVs," 2021 20th International Conference on Advanced Robotics (ICAR), 2021, pp. 523-530, doi: 10.1109/ICAR53236.2021.9659357. (*equal contribution)



Reviewed for several conferences, such as:

  • ICIP 2022
  • ICPR 2022
  • ECCV 2022
  • WACV 2022