Norbert Haala

Books, Book Chapters, Dissertations

Haala, N.; Zhang, W.; Joachim, L. & Skuddis, D. [2023]
SLAM für die Echtzeit-Erfassung von Innenräumen. 22. Internationale Geodätische Woche Obergurgl 2022, Wichmann Verlag, 188-179, ISBN 978-3-87907-738-0.

Haala, N.; Kölle, M. & Cramer, M. [2023]
UAV Point Clouds at Millimeter Accuracy, Hybrid georeferencing of images and lidar point clouds for deformation monitoring. Lidar Magazine, 05.24.2023.

Cramer, M.; Kresse, W.; Skaloud, J.; Haala, N.; Nittel, S. & Wallgrün, J. [2012]
Data Capture and Geosensor Networks. In: Springer Handbook of Geographic Information, Kresse, Wolfgang, Danko, David M. (Eds.), eBook ISBN: 978-3-540-72680-7, Springer-Verlag Berlin Heidelberg. .
URL: http://www.springer.com/earth+sciences+and+geography/geographical+information+systems/book/978-3-540-72678-4
DOI: 10.1007/978-3-540-72680-7

Haala, N. & Kada, M. [2009]
Virtual GIS: Efficient Presentation of 3D City Models. Chapter 45 in: Madden,M. (ed.), Manual of Geographic Information Systems.
URL: http://www.asprs.org/a/gis_manual/index.html

Haala, Norbert [2005]
Multi-Sensor-Photogrammetrie. Deutsche Geodätische Kommission, Reihe C, Nr. 589, München 2005. 101p.

Haala, N. [2004]
Laserscanning zur dreidimensionalen Erfassung von Stadtgebieten. Kapitel in: Coors,V., Zipf.A. (ed.), 3D-Geoinformationssysteme Wichmann Verlag.

Brenner, C. & Haala, N. [2001]
Automated Reconstruction of 3D City Models. In: Abdelguerfi, M. (ed), 3D Synthetic Environment Reconstruction. Kluwer Academic Publishers, pp. 75-101. 2001.

Haala, Norbert [1996]
Gebäuderekonstruktion durch Kombination von Bild- und Höhendaten. Deutsche Geodätische Kommission, Reihe C, Nr. 460, München 1996. 96 p.

Peer Reviewed Journal Papers

Zhang, S.; Liu, C. & Haala, N. [2024]
Guided by model quality: UAV path planning for complete and precise 3D reconstruction of complex buildings. International Journal of Applied Earth Observation and Geoinformation, 127, 103667.
DOI: 10.1016/j.jag.2024.103667

Zhang, W.; Sun, T.; Wang, S.; Cheng, Q. and Haala, N. [2024]
HI-SLAM: Monocular Real-Time Dense Mapping With Hybrid Implicit Fields. in IEEE Robotics and Automation Letters, vol. 9, no. 2, pp. 1548-1555, Feb. 2024.
DOI: 10.1109/LRA.2023.3347131

Yang, B.,;Haala, N. & Dong, Z. [2023]
Progress and perspectives of point cloud intelligence. Geo-spatial Information Science.
DOI: https://doi.org/10.1080/10095020.2023.2175478

Haala, N.; Zhang, W.; Joachim, L.; Skuddis, D.; Abolhasani, S.; Schwieger, V. & Soergel, U. [2023]
Zum Potenzial von SLAM-Verfahren für geodätische Echtzeit-Messaufgaben. Allgemeine Vermessungsnachrichten (avn), 163–172.
URL: https://gispoint.de/artikelarchiv/avn/2023/avn-ausgabe-052023/7879-zum-potenzial-von-slam-verfahren-fuer-geodaetische-echtzeit-messaufgaben.html

Burkhardt, M.; Gienger, A.; Joachim, L.; Haala, N.; Soergel, U., & Sawodny, O. [2023]
Data-based error compensation for georeferenced payload path tracking of automated tower cranes. Mechatronics, 94, 103028--.
DOI: 10.1016/j.mechatronics.2023.103028

Haala, N.; Koelle, M.; Cramer, M.; Laupheimer, D. & Zimmermann, F. [2022]
Hybrid georeferencing of images and LiDAR data for UAV-based point cloud collection at millimetre accuracy. ISPRS Open Journal of Photogrammetry and Remote Sensing, 2022, 100014, ISSN 2667-3932.
DOI: 10.1016/j.ophoto.2022.100014

Wang, J.; Gong, K.; Balz, T.; Haala, N.; Soergel, U.; Zhang, L. & Liao, M. [2022]
Radargrammetric DSM Generation by Semi-Global Matching and Evaluation of Penalty Functions. Remote Sens. 2022, 14, 1778.
DOI: 10.3390/rs14081778

Laupheimer, D. & Haala, N. [2021]
Juggling With Representations: On the Information Transfer Between Imagery, Point Clouds, and Meshes for Multi-Modal Semantics. ISPRS Journal of Photogrammetry and Remote Sensing, 176 (2021), 55-68.
DOI: 10.1016/j.isprsjprs.2021.03.007

Rocca, F.; Li, D.; Tebaldini, S.; Liao, M.; Zhang, L.; Lombardini, F.; Balz, T.; Haala, N.; Ding, X.& Hanssen, R. [2021]
Three- and Four-Dimensional Topographic Measurement and Validation. Remote Sens. 2021, 13, 2861.
DOI: 10.3390/rs13152861

Koelle, M.; Laupheimer, D.; Schmohl, S.; Haala, N.; Rottensteiner, F.; Wegner, J.D. & Ledoux, H. [2021]
The Hessigheim 3D (H3D) benchmark on semantic segmentation of high-resolution 3D point clouds and textured meshes from UAV LiDAR and Multi-View-Stereo. ISPRS Open Journal of Photogrammetry and Remote Sensing, 1, 2021.
DOI: 10.1016/j.ophoto.2021.100001

Rothermel, M.; Gong, K.; Fritsch, D.; Schindler, K., & Haala, N. [2020]
Photometric Multi-View Mesh Refinement for High-Resolution Satellite Images. ISPRS Journal of Photogrammetry and Remote Sensing 166 (2020) 52–62.
DOI: 10.1016/j.isprsjprs.2020.05.001

Schmohl, S.; Tutzauer, P. & Haala, N. [2020]
Stuttgart City Walk: A Case Study on Visualizing Textured DSM Meshes for the General Public Using Virtual Reality. PFG – Journal of Photogrammetry, Remote Sensing and Geoinformation Science volume 88, pages 147–154 (2020).
DOI: 10.1007/s41064-020-00106-z

Cramer, M.; Koelle, M.; Haala, N. & Havel, P. [2020]
Flächenhaftes UAV-Monitoring: das Hessigheim-Projekt. Allgemeine Vermessungsnachrichten (avn) 03/2020, pp. 107-117 (2020).

Jhan, J.-P., Rau, J-Y. & Haala, N. [2018]
Robust and adaptive band-to-band image transform of UAS miniature multi-lens multispectral camera. ISPRS Journal of Photogrammetry and Remote Sensing 137 (2018), pp. 47-60.
DOI: 10.1016/j.isprsjprs.2017.12.009

Lotte, R.G.; Haala, N.; Karpina, M.; Aragão, L.E.O.C. & Shimabukuro, Y.E. [2018]
3D Façade Labeling over Complex Scenarios: A Case Study Using Convolutional Neural Network and Structure-From-Motion. Remote Sens. 2018, 10, 1435.
DOI: 10.3390/rs10091435

Cavegn, S. & Haala, N. [2016]
Image-Based Mobile Mapping for 3D Urban Data Capture. Photogrammetric Engineering & Remote Sensing Vol. 82, No. 12, December 2016, pp. 925–933.
DOI: 10.14358/PERS.82.12.925

Haala, N. [2014]
Dense Image Matching. Final Report, EuroSDR Official Publication N°64, pp .115-145.
URL: http://www.eurosdr.net/sites/default/files/uploaded_files/eurosdr_no64_c.pdf

Cramer, M.; Haala, N.; Rothermel, M.; Leinss, B. & Fritsch, D. [2013]
UAV@LGL – Pilotstudie zum Einsatz von UAV im Rahmen der Landesvermessung in Deutschland. In: Photogrammetrie – Fernerkundung – Geoinformation (PFG), Heft 5.

Haala, N.; Rothermel, M. & Pfeifer, N. [2013]
Benchmarking Image-based DSM generation in GIM International. December 2013, Volume 27, Issue 12.
URL: http://www.gim-international.com/news/remote_sensing/photogrammetry/id7821-benchmarking_imagebased_dsm_generation.html

Haala, N. & Rothermel, M. [2012]
Dense Multi-Stereo Matching for High Quality Digital Elevation Models. In PFG Photogrammetrie, Fernerkundung, Geoinformation. Jahrgang 2012 Heft 4 (2012), p. 331-343.
URL: http://www.schweizerbart.de/papers/pfg/detail/2012/78382/Dense_Multi_Stereo_Matching_for_High_Quality_Digit

Haala, N., Fritsch, D., Peter, M. & Khosravani, A. [2012]
Pedestrian Mobile Mapping System for Indoor Environments Based on MEMS IMU and Range Camera. Archives of Photogrammetry, Cartography and Remote Sensing, Vol. 22, 2011, pp. 159-172, ISSN 2083-2214.
URL: http://www.sgp.geodezja.org.pl/ptfit/wydawnictwa/krakow2011/APCRS%20vol.%2022%20pp.%20159-172.pdf

Cramer, M. & Haala, N. [2010]
DGPF Project: Evaluation of digital Photogrammetric Aerial-based Imaging Systems – Overview and Results from the Pilot Center. Photogrammetric Engineering & Remote Sensing, Vol. 76, No. 9, September 2010, pp. 1019-1029.
URL: http://digital.ipcprintservices.com/publication/?i=45474&p=&l=&m=&ver=&pp

Haala, N.; Hastedt, H.; Wolff, K.; Ressl, C. & Baltrusch, S. [2010]
Digital Photogrammetric Camera Evaluation - Generation of Digital Elevation Models. Photogrammetrie – Fernerkundung – Geoinformation (PFG), Heft 2, pp. 99 -115.

Haala, N. & Kada, M. [2010]
An update on automatic 3D building reconstruction. ISPRS Journal of Photogrammetry and Remote Sensing 65 (2010), pp. 570–580.
DOI: 10.1016/j.isprsjprs.2010.09.006

Al-Kheder,S.; Al-Shawabkeh, Y. & Haala, N. [2009]
Developing a Documentation System for Desert Palaces in Jordan Using 3D Laser Scanning and Digital Photogrammetry. Journal of Archaeological Science, Volume 36, Issue 2, pp.537-546.

Alkheder, S.; Alshawabkeh, Y. & Haala, N. [2008]
Developing a Documentation System for Desert Palaces in Jordan Using 3D Laser Scanning and Digital Photogrammetry. Journal of Archaeological Science (in press).

Balz, T.; Becker, S.; Haala, N. & Kada, M. [2008]
Using Real-Time SAR Simulation to Assist Pattern Recognition Applications in Urban Areas. Pattern Recognition and Image Analysis, 2008, Vol. 18, No. 3, pp. 412-416.

Becker, S. & Haala, N. [2008]
Integrated LIDAR and Image Processing for the Modelling of Building Facades. Photogrammetrie - Fernerkundung - Geoinformation PFG, 2/2008, pp. 65-81.

Alshawabkeh, Y.; Haala, N. & Fritsch, D. [2007]
Registrierung terrestrischer Bild und LIDAR Daten für die Dokumentation von Kulturdenkmälern. Photogrammetrie - Fernerkundung - Geoinformation (PFG) Heft 3, pp.199-208.

Reulke, R.; Becker, S.; Haala, N. & Tempelmann, U. [2006]
Determination and improvement of spatial resolution of the CCD-line-scanner system ADS40. ISPRS Journal of Photogrammetry and Remote Sensing 60(2), pp.81-90.
DOI: 10.1016/j.isprsjprs.2005.10.007

Grejner-Brzezinska, D.; Li, R.; Haala, N. & Toth, C. [2004]
From Mobile Mapping to Telegeoinformatics: Paradigm Shift in Geospatial Data Acquisition, Processing, and Management. PE&RS Vol. 70(2), pp.197-210.

Haala, N. & Böhm, J. [2003]
A multi-sensor system for positioning in urban environments. ISPRS Journal of Photogrammetry and Remote Sensing 58(1-2), pp.31-42. 2003.

Haala, N. [2001]
Anwendungspotential virtueller Stadtmodelle. In: Publikationen der Deutschen Gesellschaft für Photogrammetrie und Fernerkundung Band 9 , pp. 98-105. 2001.

Brenner, C. & Haala, N. [2000]
Erfassung von 3D Stadtmodellen. PFG - Photogrammetrie, Fernerkundung, Geoinformation, Heft 2/2000, pp.109 - 118. 2000.

Haala, N. & Brenner, C. [1999]
Extraction of buildings and trees in urban environments. ISPRS Journal of Photogrammetry and Remote Sensing 54(2-3), pp. 130-137.

Haala, N. & Brenner, C. [1999]
Virtual City Models from Laser Altimeter and 2D Map Data. Photogrammetric Engineering & Remote Sensing 6 5(7), pp. 787-795.

Haala, N. & Brenner, C. [1998]
Interpretation of Urban Surface Models Using 2D Building Information'. Computer Vision and Image Understanding 72 (2), 204-214.

Haala, N. [1994]
Detection of buildings by fusion of range and image data. ZPF (5), pp. 161-167.

Haala, N.; Plietker, B. & Sester, M. [1994]
Automatische Bildinterpretation. ZPF (6), pp. 228-238.

Non-reviewed Journal Papers

Haala, N.; Koelle, M. & Laupheimer, D. [2020]
Integrating UAV-based LiDAR and Photogrammetry. GIM International May 2020, Volume 34, Issue 3, pp. 10-13 (2020).
URL: https://www.gim-international.com/content/article/integrating-uav-based-lidar-and-photogrammetry

Tutzauer, P.; Becker, S. & Haala, N. [2017]
Perceptual Rules for Building Enhancements in 3D Virtual Worlds. i-com, Vol. 16, No. 3, pp. 205–213, ISSN (Online) 2196-6826, ISSN (Print) 1618-162X.
DOI: 10.1515/icom-2017-0022

Haala, N. & Cramer, M. [2014]
Möglichkeiten und Grenzen der UAV-gestützten photogrammetrischen 3D Datenerfassung. Schriftenreihe des DVW Band 75 / 2014.
URL: http://geodaesie.info/sr/multi-sensor-systeme-bewegte-zukunftsfelder/3897/1949

Alshawabkeh, Y.; Bal’awi, F. & Haala, N. [2010]
3D Digital Documentation, Assessment, and Damage Quantiﬁcation of the Al-Deir Monument in the Ancient City of Petra, Jordan. Conservation and Management of Archaeological Sites, Vol. 12 No. 2, May, 2010, 124-45.
DOI: 10.1179/175355210X12792909186412

Alshawabkeh, Y.; Haala, N. & Fritsch,D. [2010]
A New True Ortho-photo Methodology for complex archeological application. Archaeometry, Volume 52, Issue 3, June 2010, pp. 517-530.
DOI: 10.1111/j.1475-4754.2009.00484.x

Haala, N. [2005]
Laserscanning zur dreidimensionalen Erfassung von Stadtgebieten. 3D-Geoinformationssysteme: Grundlagen und Anwendungen Wichmann Verlag.

Brenner, C. & Haala, N. [1999]
Rapid Production of Virtual Reality City Models. Journal GIS - Geo-Informations-Systeme 12(3), Wichmann Verlag Heidelberg, Germany. pp. 22-28.

Brenner, C. & Haala, N. [1999]
Towards Virtual Maps: On the Production of 3D City Models. GeoInformatics 2(5), pp. 10-13.

Haala, N. & Brenner, C. [1999]
Unwrapping of Detailed Surface Models. GIM International 13(3), pp. 6-9.

Peer Reviewed Conference Papers

Ress, V. Brändle, M., & Haala, N. [2024]
Analysis and Implementation of Rotation-invariant Neural Network Architectures for Feature Extraction. 44. Wissenschaftlich-Technische Jahrestagung der DGPF in Remagen – Publikationen der DGPF, 32, 12–19.
URL: https://www.dgpf.de/src/tagung/jt2024/proceedings/paper/02_KKNP_dgpf2024_Ress_et_al.pdf

Zhang, W.; Wang, S.; Dong, X.; Guo, R. & Haala, N. [2023]
BAMF-SLAM: Bundle Adjusted Multi-Fisheye Visual-Inertial SLAM Using Recurrent Field Transforms. arXiv preprint arXiv:2306.01173.
DOI: https://doi.org/10.48550/arXiv.2306.01173

Zhang, W.; Wang, S.; Dong, X.; Guo, R., & Haala, N. [2023]
BAMF-SLAM: Bundle Adjusted Multi-Fisheye Visual-Inertial SLAM Using Recurrent Field Transforms. 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 6232-6238.
DOI: 10.1109/ICRA48891.2023.10160905

Laupheimer, D., & Haala, N. [2022]
MULTI-MODAL SEMANTIC MESH SEGMENTATION IN URBAN SCENES. ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, V-2–2022, 267--274.
DOI: 10.5194/isprs-annals-V-2-2022-267-2022

Zhang, W.; Wang, S. & Haala, N. [2022]
Towards Robust Indoor Visual SLAM and Dense Reconstruction for Mobile Robots. ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., V-1-2022, 211–219, 2022.
DOI: 10.5194/isprs-annals-V-1-2022-211-2022

Skuddis, D., Koeberle, J. & Haala, N. [2022]
LiDAR Ground Segmentation and Modeling for Mobile Robots in Unstructured Terrain. 2022 8th International Conference on Automation, Robotics and Applications (ICARA), 2022, pp. 57-61.
DOI: 10.1109/ICARA55094.2022.9738519

Joachim, L.; Zhang, W.; Haala, N. & Soergel, U. [2022]
Evaluation of the Quality of Real-time Mapping With Crane Cameras and Visual SLAM Algorithms. Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLIII-B2-2022, 545-552, 2022.
DOI: 10.5194/isprs-archives-XLIII-B2-2022-545-2022

Zhang, W., Skuddis, D., Schneider, P. J., & Haala, N. [2022]
Comparison of different 2D and 3D Sensors and Algorithms for Indoor SLAM on a low-cost Robotic Platform. Tagungsband der DGPF: PFGK22 - Photogrammetrie - Fernerkundung - Geoinformatik - Kartographie, 42. Jahrestagung in Dresden 2022.
DOI: 10.24407/KXP:1796046450

Koelle, M.; Laupheimer, D.; Walter, V.; Haala, N. & Soergel, U. [2021]
Which 3D Data Representation Does the Crowd Like Best? Crowd-Based Active Learning for Coupled Semantic Segmentation of Point Clouds and Textured Meshes. ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., V-2-2021, 93–100, 2021.
DOI: 10.5194/isprs-annals-V-2-2021-93-2021

Laupheimer, D.; Shams, M. H. & Haala, N. [2020]
The Importance of Radiometric Feature Quality for Semantic Mesh Segmentation. 40. Wissenschaftlich-Technische Jahrestagung der DGPF in Stuttgart – Publikationen der DGPF, Band 29, 2020, pp. 205-218.
URL: https://www.dgpf.de/src/tagung/jt2020/proceedings/proceedings/papers/27_DGPF2020_Laupheimer_et_al.pdf

Haala, N.; Koelle, M.; Cramer, M.; Laupheimer, D.; Mandlburger, G. & Glira, P. [2020]
Hybrid Georeferencing, Enhancement and Classification of Ultra-High Resolution UAV LiDAR and Image Point Clouds for Monitorig Applications. ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., V-2-2020, 727–734, 2020.
DOI: 10.5194/isprs-annals-V-2-2020-727-2020

Zhang, S.; Liu, C. & Haala, N. [2020]
Three-Dimensional Path Planning of UAVs Imaging for Complete Photogrammetric Reconstruction. ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., V-1-2020, 325–331, 2020.
DOI: 10.5194/isprs-annals-V-1-2020-325-2020

Laupheimer, D.; Shams Eddin, M. H. & Haala, N. [2020]
On the Association of LiDAR Point Clouds and Textured Meshes for Multi-Modal Semantic Segmentation. ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., V-2-2020, 509–516, 2020.
DOI: 10.5194/isprs-annals-V-2-2020-509-2020

Tutzauer, P.; Laupheimer, D. & Haala, N. [2019]
Semantic Urban Mesh Enhancement Utilizing a Hybrid Model. ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., IV-2/W7, pp. 175–182.
DOI: 10.5194/isprs-annals-IV-2-W7-175-2019

Cramer, M.; Mandlburger, G.; Laupheimer, D.; Haala, N. & Havel, P. [2019]
Potenzial ultrahoch-auflösender und -genauer UAV-basierter 3D-Datenerfassung. Dreiländertagung der DGPF, der OVG und der SGPF in Wien, Österreich – Publikationen der DGPF, Band 28, 2019, pp. 472-482.
URL: https://www.dgpf.de/src/tagung/jt2019/proceedings/proceedings/papers/80_3LT2019_Cramer_et_al.pdf

Laupheimer, D, & Haala, N. [2018]
Deep Learning for the Classification of Building Facades. DGPF annual conference, München, Germany. Publikationen der DGPF, Band 27, 2018, pp.701-709.
URL: http://www.dgpf.de/src/tagung/jt2018/proceedings/proceedings/papers/28_PFGK18_KKN_01_Laupheimer_Haala.pdf

Cavegn, S.; Blaser, S.; Nebiker, S. & Haala, N. [2018]
Robust and Accurate Image-based Georeferencing Exploiting Relative Orientation Constraints. ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., IV-2, 57-64, 2018.
DOI: 10.5194/isprs-annals-IV-2-57-2018

Gruber, T., Kokhova, M., Ritter, W., Haala, N. & Dietmayer, K. [2018]
Learning Super-resolved Depth from Active Gated Imaging. 21st IEEE International Conference on Intelligent Transportation Systems (IEEE ITSC 2018).
DOI: 10.1109/ITSC.2018.8569590

Laupheimer, D.; Tutzauer, P.; Haala, N. & Spicker, M. [2018]
Neural Networks for the Classification of Building-use from Street-View Imagery. ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., IV-2, 177-184, 2018.
DOI: 10.5194/isprs-annals-IV-2-177-2018

Tutzauer, P. & Haala, N. [2017]
Processing of Crawled Urban Imagery for Building Use Classification. Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-1/W1, 143-149.
DOI: 10.5194/isprs-archives-XLII-1-W1-143-2017

Mandlburger, G.; Wenzel, K.; Spitzer, A.; Haala, N.; Glira, P. & Pfeifer, N. [2017]
Improved Topographic Models via Concurrent Airborne Lidar and Dense Image Matching. ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., IV-2/W4, 259-266.
DOI: 10.5194/isprs-annals-IV-2-W4-259-2017

Cefalu, A.; Haala, N., & Fritsch, D. [2016]
Structureless Bundle Adjustment with Self-Calibration Using Accumulated Constraints. ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., III-3, pp. 3-9.
DOI: 10.5194/isprs-annals-III-3-3-2016

Rothermel, M.; Haala, N. & Fritsch, D. [2016]
A Median-Based Depthmap Fusion Strategy for the Generation of Points. ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., III-3, pp. 115-122.
DOI: 10.5194/isprs-annals-III-3-115-2016

Cavegn, S.; Haala, N.; Nebiker, S.; Rothermel, M., & Zwölfer, T. [2015]
Evaluation of Matching Strategies for Image-Based Mobile Mapping. ISPRS Annals Vol II-3/W5, pp. 361-368, 2015.
DOI: 10.5194/isprsannals-II-3-W5-361-2015

Haala, N.; Rothermel, M. & Cavegn, S. [2015]
Extracting 3D Urban Models from Oblique Aerial Images. JURSE 2015 Joint Urban Remote Sensing Event, Lausanne, Switzerland.

Haala, N.; Tutzauer, P. & Becker, S. [2015]
Automatisierte Erzeugung von LOD3-Modellen aus 3D-Punktwolken durch Multi-Stereo-Bildzuordnung. in Geoinformationssysteme 2015, Beiträge zur 2. Münchner GI-Runde, Wichmann Verlag, pp. 108-119.

Haala, N.; Cramer, M. & Rothermel, M. [2014]
High Quality 3D data capture from UAV imagery. Geophysical Research Abstracts, Vol. 16, EGU2014-4004, 2014, EGU General Assembly 2014.

Rothermel, M.; Bulatov, D.; Haala, N. & Wenzel, K. [2014]
Fast and Robust Generation of Semantic Urban Terrain Models from UAV Video Streams. 22nd International Conference on Pattern Recognition.

Becker, S. & Haala, N. [2009]
Grammar supported facade reconstruction from mobile LiDAR mapping. ISPRS Workshop on Object Extraction for 3D City Models, Road Databases and Traffic Monitoring, Paris, 3.-4. Sept.

Becker, S. & Haala, N. [2009]
Quality Dependent Reconstruction of Building Façades. First International Workshop on Quality of Context - QuaCon, volume 5786 of Lecture Notes in Computer Science, pp. 174-184, Springer.

Haala, N.; Becker, S. & Kada, M. [2007]
Cell Decomposition for Building Model Generation at Different Scales. In: Proceedings of Urban Remote Sensing Joint Event 2007, Paris, France, April, 11-13, 2007, 6 pages.

Becker, S. & Haala, N. [2007]
Combined Feature Extraction for Facade Reconstruction. ISPRS Workshop on Laser Scanning 2007 and SilviLaser 2007, IAPRS, Vol. 36, Part 3/W52, Espoo, Finland, September 12-14, 2007, pp. 44-49.

Becker, S. & Haala, N. [2007]
Refinement of Building Facades by Integrated Processing of LIDAR and Image Data. In: Proceedings of PIA07 (Photogrammetric Image Analysis), Munich, Germany, September 19-21, 2007, pp.7-12.

Böhm, J.; Becker, S. & Haala, N. [2007]
Model Refinement by Integrated Processing of Laser Scanning and Photogrammetry. ISPRS International Workshop 3D-Arch 2007 (3D Virtual Reconstruction and Visualization of Complex Architectures), International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences Volume XXXVI-5/W47, Zurich, Switzerland, July 12-13, digitally published on CD, 6 pages.

Böhm, J.; Haala, N. & Becker, S. [2007]
Facade Modelling for Historical Architecture. In: Proceedings of the XXI International CIPA Symposium, Athens, Greece, October 1-6, 2007, 6 pages.

Haala, N.; Becker, S. & Kada, M. [2006]
Cell Decomposition for the Generation of Building Models at Multiple Scales. IAPRS Vol. XXXVI Part III, Symposium Photogrammetric Computer Vision, pp. 19-24. Bonn.

Haala, N.; Kada, M.; Becker, S.; Böhm, J. & Alshawabkeh, Y. [2006]
Graphics Tools for the Generation of Large Scale Urban Scenes. IAPRS Vol. XXXVI Part 4, "Geospatial Databases for Sustainable Development" on CD.

Kada, M.; Haala, N. & Becker, S. [2006]
Improving the Realism of Existing 3D City Models. International Workshop on 3D Geoinformation 2006 (3DGeoInfo '06).

Balz, T. & Haala, N. [2006]
Improved Real-Time SAR Simulation in Urban Areas. 2006 IEEE International Geoscience and Remote Sensing Symposium (IGARSS).

Becker, S.; Haala, N.; Honkavaara, E. & Markelin, L. [2006]
Image Restoration for Resolution Improvement of Digital Aerial Images: A Comparison of Large Format Digital Cameras. IAPRS Vol. XXXVI Part I on CD.

Becker, S.; Haala, N. & Reulke, R. [2005]
Determination and Improvement of Spatial Resolution for Digital Aerial Images. Comm I & IV Hannover Workshop 2005 High-Resolution Earth Imaging for Geospatial Information.

Haala, N. & Kada, M. [2004]
Generation and application of virtual landscape models for location-based services. Stefanidis, A. & Nittel, S. (eds.) GeoSensor Networks CRC Press.

Reulke , R.; Becker, S. & Haala, N. [2004]
Determination and Improvement of Spatial Resolution of the CCD Line-Scanner System ADS40. Image and Vision Computing '04.

Haala, N. & Anders, K.-H. [1997]
Acquisition of 3D urban models by analysis of aerial images, digital surface models and existing 2D building information. In: SPIE Conference on Integrating Photogrammetric Techniques with Scene Analysis and Machine Vision III, Orlando, Florida, pp. 212-222.

Invited Conference Contributions, Festschrift

Haala, N.; Schwieger, V. [2017]
UAV – Anforderungen und Möglichkeiten. In: DVW-Schriftenreihe, Band 86/2017, Wißner Verlag, pp 9-26.

Haala, N. & Rothermel, M. [2015]
Image-based 3D Data Capture in Urban Scenarios. Photogrammetric Week 2015, Wichmann Verlag, Berlin/Offenbach, pp. 119-130.

Haala, N. [2013]
The Landscape of Dense Image Matching Algorithms. Photogrammetric Week '13, Ed. D. Fritsch, Wichmann, Berlin/Offenbach, pp. 271-284.

Wenzel, K.; Rothermel, M.; Haala, N. & Fritsch, D. [2013]
SURE – The ifp Software for Dense Image Matching. Photogrammetric Week '13, Ed. D. Fritsch, Wichmann, Berlin/Offenbach, pp. 59-70.

Haala, N. [2011]
Multiray Photogrammetry and Dense Image Matching. Photogrammetric Week '11, Ed. D. Fritsch, Wichmann, Berlin/Offenbach, pp. 185-195.

Haala, N. [2009]
Comeback of Digital Image Matching. Photogrammetric Week '09, Ed. D. Fritsch, Wichmann, Heidelberg, pp. 289-301.

Haala, N. [2005]
Towards Virtual Reality GIS. Photogrammetric Week '05, Wichmann, Heidelberg, pp. 285-294.

Haala, N. [2001]
Automated image orientation in a location aware environment. In: D. Fritsch & R. Spiller, eds, 'Photogrammetric Week '01', Herbert Wichmann Verlag, Heidelberg, pp. 255-262. 2001.

Haala, N. [1999]
Combining Multiple Data Sources for urban data acquisition. In: D. Fritsch & R. Spiller (eds), Photogrammetric Week '99, Herbert Wichmann Verlag, Heidelberg, pp. 329-340.

Haala, N. [1995]
3D Building Reconstruction Using Linear Edge Segments. In: D. Fritsch & D. Hobbie, Eds., 'Photogrammetric Week '95', Herbert Wichmann Verlag, Heidelberg, pp. 19-28.

Non-reviewed Conference Papers

Haala,N., & Kölle, M. [2023]
Automatische Interpretation von UAV-Punktwolken – Spielerei oder Praktischer Nutzen?. 95–104, in UAV 2023 - Geodaten nach Maß, DVW Schriftenreihe, Band 105.

Farella, E. M., Morelli, L., Remondino, F., Mills, J. P., Haala, N., & Crompvoets, J. [2022]
THE EUROSDR TIME BENCHMARK FOR HISTORICAL AERIAL IMAGES. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, XLIII-B2-2022, 1175--1182.
DOI: 10.5194/isprs-archives-XLIII-B2-2022-1175-2022

Skuddis, D., & Haala, N. [2022]
GLOBALLY OPTIMAL POINT CLOUD REGISTRATION FOR ROBUST MOBILE MAPPING. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, XLIII-B2-2022, 273--281.
DOI: 10.5194/isprs-archives-XLIII-B2-2022-273-2022

Joachim, L.; Ackermann, S.; Haala, N. & Soergel, U. [2021]
Using Crane Cameras for Workspace Mapping and Monitoring for an Autonomous Tower Crane. 7th Int. Conference on Machine Control & Guidance, 2021. ISBN: 978-3-00-071292-0, pp. 47 – 53.

Koelle, M.; Laupheimer, D. & Haala, N. [2019]
Klassifikation hochaufgelöster LiDAR- und MVS-Punktwolken zu Monitoringzwecken. Dreiländertagung der DGPF, der OVG und der SGPF in Wien, Österreich – Publikationen der DGPF, Band 28, 2019, pp. 692-701.
URL: https://www.dgpf.de/src/tagung/jt2019/proceedings/proceedings/papers/07_KKNP_3LT19_Koelle_et_al.pdf

Haala, N.; Mandlburger, G.; Cramer, M. Laupheimer, D.; Koelle, M. [2019]
Kombinierte Analyse hochpräziser Punktwolken aus UAV-Photogrammetrie und -Laserscanning im Hinblick auf Setzungsmessungen. 20. Internationale Geodätische Woche Obergurgl 2019, 10 p.
URL: https://www.uibk.ac.at/geometrie-vermessung/gruppe_vermessung_und_geoinformation/geodaetische_wochen/obergurgl_2019/beitraege/vo_haala.pdf

Cramer, M.; Haala, N.; Laupheimer, D.; Mandlburger, G. & Havel, P. [2018]
Ultra-high precision UAV-based LiDAR and Dense Image Matching. Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-1, 115-120.
DOI: 10.5194/isprs-archives-XLII-1-115-2018

Runceanu, L. S. & Haala, N. [2018]
Indoor Mesh Classification for BIM. Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-4, 535-539.
DOI: 10.5194/isprs-archives-XLII-4-535-2018

Cefalu, A.; Haala, N.; Schmohl, S., Neumann, I. & Genz, T. [2017]
A Mobile Multi-Sensor Platform for Building Reconstruction Integrating Terrestrial and Autonomous UAV-Based Close Range Data Acquisition. Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-2/W6, pp. 63-70.
DOI: 10.5194/isprs-archives-XLII-2-W6-63-2017

Cefalu, A.; Haala, N. & Fritsch, D. [2017]
Hierarchical Structure From Motion Combining Global Image Orientation and Structureless Bundle Adjustment. Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-1/W1, pp. 535-542.
DOI: 10.5194/isprs-archives-XLII-1-W1-535-2017

Jhan, J. P.; Rau, J. Y. ; Haala, N. & Cramer, M. [2017]
Investigation of Parallax Issues for Multi-Lens Multispectral Camera Band Co-Registration. Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-2/W6, pp. 157-163.
DOI: 10.5194/isprs-archives-XLII-2-W6-157-2017

Runceanu, L.; Becker, S.; Haala, N. & Fritsch, D. [2017]
Indoor Point Cloud Segmentation for Automatic Object Interpretation. DGPF annual conference, Würzburg, Germany. Publikationen der DGPF, Band 26, 2017. pp. 147-159.
URL: http://www.dgpf.de/src/tagung/jt2017/proceedings/proceedings/papers/15_DGPF2017_Runceanu_et_al.pdf

Cavegn, S.; Nebiker, S. & Haala, N. [2016]
A Systematic Comparison of Direct and Image-Based Georeferencing in Challenging Urban Areas. Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLI-B1, pp. 529-536.
DOI: 10.5194/isprs-archives-XLI-B1-529-2016

Haala, N. & Cavegn, S. [2016]
High Density Aerial Image Matching: State-of-the-Art and Future Prospects. Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLI-B4, pp. 625-630.
DOI: 10.5194/isprs-archives-XLI-B4-625-2016

Haala, N. & Cavegn, S. [2015]
Benchmark zur Evaluation dichter Bildzuordnungsverfahren in Luftbildern. Tagungsband 24 / 2015, Jahrestagung DGPF, Köln.

Tutzauer, P. & Haala, N. [2015]
Facade Reconstruction Using Geometric and Radiometric Point Cloud Information. Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XL-3/W2, pp. 247-252.
DOI: 10.5194/isprsarchives-XL-3-W2-247-2015

Cavegn, S.; Haala, N.; Nebiker, S.; Rothermel, M. & Tutzauer, P. [2014]
Benchmarking high density image matching for oblique airborne imagery. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XL-3, 2014, ISPRS Technical Commission III Symposium, 5-7 September 2014, Zurich, Switzerland. pp. 45-52.
DOI: 10.5194/isprsarchives-XL-3-45-2014

Cefalu, A.; Fritsch, D. & Haala, N. [2014]
Multivariate Kerndichteschätzung zur Filterung automatischer Punktzuordnungen. DGPF Tagungsband 23 / 2014.
URL: http://www.dgpf.de/neu/Proc2014/proceedings/papers/Beitrag152.pdf

Cramer, M.; Haala, N.; Gültlinger, M. & Hummel, R. [2014]
RPAS im operationellen Einsatz beim LGL Baden-Württemberg – 3D-Dokumentation von Hangrutschungen. DGPF Tagungsband 23 / 2014.
URL: http://www.dgpf.de/neu/Proc2014/proceedings/papers/Beitrag107.pdf

Rothermel, M.; Haala, N. & Fritsch, D. [2014]
Generating oriented pointsets from redundant depth maps using restricted quadtrees. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XL-3, 2014, ISPRS Technical Commission III Symposium, 5-7 September 2014, Zurich, Switzerland. pp. 281-287.
DOI: 10.5194/isprsarchives-XL-3-281-2014

Wenzel, K.; Haala, N. & Fritsch, D. [2014]
Stereo model selection and point cloud filtering using an out-of-core octree. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XL-3, 2014, ISPRS Technical Commission III Symposium, 5-7 September 2014, Zurich, Switzerland. pp. 373-380.
DOI: 10.5194/isprsarchives-XL-3-373-2014

Wenzel, K.; Rothermel, M.; Fritsch, D. & Haala, N. [2014]
Filtering of Point Clouds from Photogrammetric Surface Reconstruction. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XL-5, 2014, ISPRS Technical Commission V Symposium, 23-25 June 2014, Riva del Garda, Italy. pp 615-620.
DOI: 10.5194/isprsarchives-XL-5-615-2014

Wenzel, K.; Rothermel, M.; Fritsch, D. & Haala, N. [2014]
An out-of-core octree for massive point cloud Proceedings of the IQmulus Workshop on Processing Large Geospatial Data.
URL: http://iqmulus.eu/dynamic/D8.6.1_WorkshopProceedings.pdf

Blanco-Vogt, A.; Haala, N. & Schanze, J. [2013]
Building extraction from remote sensing data for parameterising a building typology: a contribution to flood vulnerability assessment. Proceedings JURSE Conference, Sao Paulo, April 21-23, 2013. 2013, pp.147-150.

Cramer, M.; Haala, N.; Rothermel, M.; Leinss, B. & Fritsch, D. [2013]
UAV-gestützte Datenerfassung für Anwendungen der Landesvermessung – das Hessigheim-Projekt. Tagungsband Vorträge 33. Wissenschaftlich-technische Jahrestagung DGPF, Publikationen der Deutschen Gesellschaft für Photogrammetrie, Fernerkundung und Geoinformation (DGPF) e.V. Band 22, pp. 450-469, Hrsg.: Eckhardt Seyfert.
URL: http://www.dgpf.de/src/pub/DGPF2013.pdf

Haala, N.; Cramer, M. & Rothermel, M. [2013]
Quality of 3D Point clouds from Highly overlapping UAV Imagery. UAV-g 2013. Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XL-1/W2, pp. 183-188.
DOI: 10.5194/isprsarchives-XL-1-W2-183-2013

Wenzel, K.; Rothermel, M.; Fritsch, D. & Haala, N. [2013]
Image Acquisition and Model Selection for Multi-View Stereo. Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XL-5/W1, pp. 251-258, 2013.
DOI: 10.5194/isprsarchives-XL-5-W1-251-2013

Cramer, M. & Haala, N. [2012]
Genauigkeitspotential der photogrammetrischen Bildauswertung für Daten unbemannter Luftfahrzeuge. Tagungsband Vorträge 32. Wissenschaftlich-technische Jahrestagung DGPF, Potsdam, 14.-17. März 2012, Publikationen der Deutschen Gesellschaft für Photogrammetrie, Fernerkundung und Geoinformation (DGPF) e.V. Band 21, Seite 428-440, Potsdam 2012, Hrsg.: Eckhardt Seyfert.

Haala, N. & Rothermel, M. [2012]
Dense Multiple Stereo Matching of Highly Overlapping UAV Imagery. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol. XXXIX Part B1, p. 387-392, Commission I, XXIIth ISPRS Congress 2012, Melbourne, Australia, 2012.
DOI: 10.5194/isprsarchives-XXXIX-B1-387-2012

Rothermel, M.; Wenzel, K.; Fritsch, D. & Haala, N. [2012]
SURE: PhotogrammetricSurface Reconstruction from Imagery. Proceedings LCD Workshop, Berlin, December 2012.

Haala, N.; Cramer, M.; Weimer, F. & Trittler, M. [2011]
Performance Test on UAV-based data collection. Proceedings of the International Conference on Unmanned Aerial Vehicle in Geomatics (UAV-g). IAPRS, Volume XXXVIII-1/C22, Zurich, Switzerland, 2011, 6p.
DOI: 10.5194/isprsarchives-XXXVIII-1-C22-7-2011

Haala, N.; Fritsch, D.; Peter, M. & Khosravani, A. [2011]
Pedestrian navigation and modeling for indoor environments. 7th International Symposium on Mobile Mapping Technology, Crakow, Poland, 6p.

Peter, M.; Haala, N. & Fritsch, D. [2011]
Using Photographed Evacuation Plans to Support MEMS IMU Navigation. In: Proceedings of the 2011 International Conference on Indoor Positioning and Indoor Navigation (IPIN2011), Guimaraes, Portugal, 2011, 4p.

Rothermel, M. & Haala, N. [2011]
Potential of Dense Matching for the Generation of High Quality Digital Elevation Models. ISPRS Hannover Workshop 2011: High-Resolution Earth Imaging for Geospatial Information, IASPRS, Volume XXXVIII-4/W19, 2011.
DOI: 10.5194/isprsarchives-XXXVIII-4-W19-271-2011

Rothermel, M.; Haala, N. & Wenzel, K. [2011]
Potential dichter Bildzuordnung für die Erzeugung von Höhenmodellen. DGPF Tagungsband 20/2011 – 31. Wissenschaftlich-Technische Jahrestagung der DGPF, pp. 109-118.

Haala, N.; Cramer, M. & Jacobsen, K. [2010]
The German Camera Evaluation Project - Results from the Geometry Group. IAPRS, Vol. XXXVIII, Part 1., on CD, ISPRS Commission I Meeting, Calgary, Canada, June 15-18, 2010, 6p.
URL: http://www.isprs.org/proceedings/XXXVIII/part1/08/08_04_Paper_159.pdf

Haala, N.; Hastedt, H.; Wolff, K.; Ressl, C. & Baltrusch, S. [2010]
DGPF Projekt: Evaluierung digitaler photogrammetrischer Luftbildkamerasysteme – Themenschwerpunkt Höhenmodelle. DGPF Tagungsband 19/2010 – Dreiländertagung OVG, DGPF und SGPF, pp. 22-31.

Kirchgässner, U.; Putze, U., von Schönermark, M. & Haala, N. [2010]
Anforderungen an die Auswertung UAV-gestützter Fernerkundungsdaten. DGPF Tagungsband 19/2010 – Dreiländertagung OVG, DGPF und SGPF, pp. 597-605.

Peter, M.; Haala, N.; Schenk, M. & Otto, T. [2010]
Indoor Navigation and Modeling Using Photographed Evacuation Plans and MEMS IMU. International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol. XXXVIII, Part 4 Commission IV Symposium, Orlando, USA. November 15-19, 2010.

Cramer, M. & Haala, N. [2009]
DGPF Project: Evaluation of Digital Photogrammetric Aerial Based Imaging Systems – Overview and Results from the Pilot Centre. ISPRS Hannover Workshop 2009, High-Resolution Earth Imaging for Geospatial Information.

Cramer, M.; Krauß, H.; Jacobsen, K.; von Schönermark, M.; Haala, N. & Spreckels, V. [2009]
Das DGPF-Projekt zur Evaluierung digitaler photogrammetrischer Kamerasysteme. Tagungsband 18 / 2009, Jahrestagung DGPF Jena.

Cramer, M.; Krauß, H.; Jacobsen, K.; von Schönermark, M.; Haala, N. & Spreckels, V. [2009]
Addendum, Das DGPF-Projekt zur Evaluierung digitaler photogrammetrischer Kamerasysteme. CD-Rom Publikation, Jahrestagung DGPF Jena.

Haala, N. & Wolff, K. [2009]
Digitale photogrammetrische Luftbildkamerasysteme - Evaluation der automatischen Generierung von Höhenmodellen. Tagungsband 18 / 2009, Jahrestagung DGPF Jena.

Alshawabkeh, Y.; Haala, N. & Fritsch, D. [2008]
Range Image Segmentation Using the Numerical Description of the Mean Curvature Values. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol. XXXVII, Part B5, Commission 5. ISPRS Congress 2008, Beijing, China. P. 533ff. ISSN 1682-1750.

Becker, S.; Haala, N. & Fritsch, D. [2008]
Combined Knowledge Propagation for Facade Reconstruction. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol. XXXVII, Part B5, Commission 5. ISPRS Congress 2008, Beijing, China. P. 423ff. ISSN 1682-1750.

Haala, N.; Peter, M.; Cefalu, A. & Kremer, J. [2008]
Mobile Lidar Mapping For Urban Data Capture. VSMM 2008, Digital Heritage – Proceedings of the 14th International Conference on Virtual Systems and Multimedia, pp. 95-100.

Haala, N.; Peter, M.; Kremer, J. & Hunter, G. [2008]
Mobile LiDAR Mapping for 3D Point Cloud Collection in Urban Areas - a Performance Test. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol. XXXVII, Part B5, Commission 5. ISPRS Congress 2008, Beijing, China. P. 1119ff. ISSN 1682-1750.

Peter, M.; Haala, N. & Fritsch, D. [2008]
Preserving Ground Plan and Facade Lines for 3D Building Generalization. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol. XXXVII, Part B2, Commission 2. ISPRS Congress 2008, Beijing, China. P. 481ff. ISSN 1682-1750.

Kada, M.; Balz, T.; Haala, N. & Fritsch, D. [2007]
Programmable Graphics Processing Units for Urban Landscape Visualization. 26th International Symposium of Urban Data Management.

Balz, T.; Becker, S.; Haala, N. & Kada, M. [2007]
Using real-time SAR simulation to assist pattern recognition applications in urban areas. In: Proceedings of the 7th Open German/Russian Workshop on Pattern Recognition and Image Understanding, Ettlingen, Germany, August 20-23, 2007, digitally published on CD, 4 pages.

Alshawabkeh, Y.; Haala, N. & Fritsch, D. [2006]
2D-3D Feature Extraction and Registration of Real World Scenes. IAPRS Vol. XXXVI, Part V, Symposium 'Image engineering and vision metrology', .pp. 32-37.

Alshawabkeh, Y. & Haala, N. [2005]
Automatic Multi-Image Photo-Texturing of Complex 3D Scenes. CIPA 2005 IAPRS Vol. 34-5/C34, pp. 68-73.

Balz, T. & Haala, N. [2005]
Interpretation of High Resolution SAR Data using Existing GIS Data in Urban Areas. IAPRS Vol. 36 Part 3/W24 Joint Workshop of ISPRS and DAGM CMRT05, pp. 111-116.

Balz, T.; Haala, N. & Soergel, U. [2005]
Combining LIDAR, InSAR, SAR and SAR-Simulation for Change Detection Applications in Cloud-prone Areas. In: 1st Intern. Symposium on Cloude-Prone and Rainy Areas Remote Sensing (CARRS), Hong-Kong, pp. 68-79.

Böhm, J. & Haala, N. [2005]
Efficient Integration of Aerial and Terrestrial Laser Data for Virtual City Modeling Using LASERMAPS. IAPRS Vol. 36 Part 3/W19 ISPRS Workshop Laser scanning 2005 , pp.192-197.

Böhm, J.; Haala, N. & Alshawabkeh, Y. [2005]
Automation in laser scanning for cultural heritage applications. International Workshop on Recording, Modeling and Visualization of Cultural Heritage, Ascona, Switzerland, May 22-27, 2005.

Haala, N. & Kada, M. [2005]
Panoramic Scenes for Texture Mapping of 3D City Models. Proceedings of the ISPRS working group V/5 'Panoramic Photogrammetry Workshop', IAPRS Vol. XXXVI-5/W8, on CD.

Kada, M.; Klinec, D. & Haala, N. [2005]
Facade Texturing for rendering 3D city models. In: Proceedings of the ASPRS 2005 Annual Conference, Baltimore, USA. 2005. pp. 78-85.

Alshawabkeh, Y. & Haala, N. [2004]
Laser Scanning and Photogrammetry: A Hybrid Approach for Heritage Documentation. 3rd International Conference on Science & Technology in Archeology & Conservation, Amman, Jordan.

Alshawabkeh, Y. & Haala, N. [2004]
Integration of Digital Photogrammetry and Laser Scanning for Heritage Documentation. ISPRS Kongress 2004, Volume XXXV, Part B5, Istanbul, Turkey, digital on CD, pp 424-429.

Haala, N. [2004]
On The Refinement of Urban Models by Terrestrial Data Collection. ISPRS Kongress 2004, Volume XXXV, Part B, Istanbul, Turkey, digital on CD, 6 pages.

Haala, N.; Reulke, R.; Thies, M. & Aschoff, T. [2004]
Combination of Terrestrial Laser Scanning with High Resolution Panoramic Images for Investigations in Forest Applications and Tree Species. 'Panoramic Photogrammetry Workshop', IAPRS Vol. 34, Part 5/W16, 6 pages.

Kada, M.; Haala, N.; Maier, S. & Fritsch, D. [2004]
Integration of Street Networks and LIDAR for Modelling and Visualisation of Terrain Data. Asian Conference on Remote Sensing ACRS 2004.

Reulke, R.; Tempelmann, U.; Stallmann, D.; Cramer, M. & Haala, N. [2004]
Improvement of Spatial Resolution with Staggered Arrays as used in the Airborne Optical Sensor Leica ADS40. ISPRS Kongress 2004, Volume 35, Part B, Istanbul, Turkey, digital on CD, 4 pages.

Reulke, R. & Haala, N. [2004]
Tree Species Recognition with Fuzzy Texture Parameters. IWCIA - Tenth International Workshop on Combinatorial Image Analysis.

Balz, T. & Haala, N. [2003]
SAR-based 3D-reconstruction of complex urban environments. IAPRS Vol. 34, Part 3/W13, pp.181-185.

Haala, N. & Alshawabkeh, Y. [2003]
Application of photogrammetric techniques for heritage documentation. 2nd International Conference on Science & Technology in Archeology & Conservation, Amman, Jordan.

Böhm, J.; Haala, N. & Kapusy, P. [2002]
Automated appearance-based building detection in terrestrial images. In: International Archives on Photogrammetry and Remote Sensing IAPRS, Volume XXXIV, Part 5, pages 491-495, ISPRS Commission V Symposium, Corfu, September 2002.

Grejner-Brzezinska, D.; Li, R.; Haala, N. & Toth, C. [2002]
Multi-sensor systems for land-based and airborne mapping: technology of the future?. International Archives on Photogrammetry and Remote Sensing IAPRS, Volume XXXIV, Com. II, pages 31-42, ISPRS Commission II Symposium, Xian, August 2002.

Haala, N.; Böhm, J. & Klinec, D. [2002]
An integrated approach for the orientation of terrestrial outdoor scenes. International Archives on Photogrammetry and Remote Sensing IAPRS, Volume XXXIV, Com. II, pages 157-162, ISPRS Commission II Symposium, Xian, August 2002.

Haala, N.; Böhm, J. & Kada, M. [2002]
Processing of 3D Building Models for Location Aware Applications. International Archives on Photogrammetry and Remote Sensing IAPRS, Volume XXXIV, Com. III, Part A, pages 138-143, ISPRS Commission III Symposium, Graz, September 2002.

Brenner, C.; Haala, N. & Fritsch, D. [2001]
Towards fully automated 3D city model generation. In: Automatic Extraction of Man-Made Objects from Aerial and Space Images III. 2001.

Haala, N.; Klinec, D. & Brenner, C. [2000]
Erfassung, Visualisierung und Interaktion von 3D-Geodaten am Beispiel von NEXUS. Visualisierung raumbezogener Daten: Methoden und Anwendungen, Bd. II, Institut für Informatik, Universität Münster, pp. 171-191. 2000.

Haala, N.; Fritsch, D.; Stallmann, D. & Cramer M. [2000]
On the performance of digital airborne pushbroom cameras for photogrammetric data processing - a case study. IAPRS Vol. 33 Part B4/1. pp. 324-331. Also appeared in GIS, Vol. 13, pp. 29-35. Amsterdam. 2000.

Hild, H.; Haala, N. & Fritsch, D. [2000]
A Strategy for Automatic Image To Map Registration. In: IAPRS Vol. XXXIII, Part B2, pp. 313-321, ISPRS Congress 2000, Amsterdam.

Cramer, M. & Haala, N. [1999]
Direct exterior orientation of airborne sensors - an accuracy investigation of an integrated GPS/inertial system. In: Proc. ISPRS Workshop Comm. III/1, Portland, Maine, USA.

Haala, N. & Walter, V. [1999]
Automatic classification of urban environments for database revision using lidar and color aerial imagery. In: IAPRS, Vol 32, Band 7-4-3W6, Valladolid, pp. 76-82.

Haala, N.; Walter, V. & Stätter, C. [1999]
Analysis of Multispectral and Stereo Data from Airborne Pushbroom Systems for DTM Generation and Landuse Classification. In: Fourth In-ternational Airborne Remote Sensing Conference and Exhibition, Vol. I, Ottawa, Canada, pp. 170-177.

Cramer, M.; Stallmann, D. & Haala, N. [1999]
Sensor integration and calibration of digital airborne three-line camera systems. In: Proc. ISPRS Workshop Comm. II/1, Bangkok, Thailand.

Brenner, C. & Haala, N. [1998]
Fast Production of Virtual Reality City Models. In: D. Fritsch, M. Englich & M. Sester (eds), IAPRS, Vol. 32/4, ISPRS Commission IV Symposium on GIS - Between Visions and Applications, Stuttgart, Germany, pp. 77-84.

Brenner, C. & Haala, N. [1998]
Rapid Acquisition of Virtual Reality City Models from Multiple Data Sources. In: IAPRS, Vol. 32/5, ISPRS, Hakodate, Japan, pp. 323-330.

Haala, N.; Brenner, C. & Anders, K.-H. [1998]
3D Urban GIS from Laser Altimeter and 2D Map Data. In: T. Schenk & A. Habib (eds), ISPRS Commission III Symposium on Object Recognition and Scene Classification from Multispectral and Multisensor Pixels', Columbus, Ohio, pp. 339-346.

Haala, N.; Brenner, C. & Stätter, C. [1998]
An Integrated System for Urban Model Generation. In: Proc. ISPRS Congress Comm. II, Cambridge, pp. 96-103.

Haala, N.; Stallmann, D. & Cramer, M. [1998]
Calibration of directly measured position and attitude by aerotriangulation of three-line airborne imagery. In: T. Schenk & A. Habib (eds), ISPRS Commission III Symposium on Object Recognition and Scene Classification from Multispectral and Multisensor Pixels, Columbus/Ohio, USA, pp. 23-30.

Haala, N.; Stallmann, D. & Stätter, C. [1998]
On the Use of Multispectral and Stereo Data from Airborne Scanning Systems for DTM Generation and Landuse Classification. In: D. Fritsch, M. Englich & M. Sester (eds), IAPRS, Vol. 32/4, ISPRS Commission IV Symposium on GIS - Between Visions and Applications, Stuttgart, Germany, pp. 246-251.

Cramer, M.; Stallmann, D. & Haala, N. [1997]
High Precision Georeferencing Using GPS/INS and Image Matching. In: Proc. International Symposium on Kinematic Systems in Geodesy, Geomatics and Navigation, pp. 453-462.

Haala, N. & Brenner, C. [1997]
Generation of 3D city models from airborne laser scanning data. In: EARSEL Worshop on LIDAR remote sensing of land and sea, Tallinn, Estonia.

Haala, N. & Brenner, C. [1997]
Interpretation of Urban Surface Models using 2D building information. In: A. Gruen, O. Kuebler M. Baltsavias, eds, Automatic Extraction of Man-Made Objects from Aerial and Space Images, Birkhäuser Verlag, Basel, Boston, Berlin.

Haala, N.; Brenner, C. & Anders, K.-H. [1997]
Generation of 3D City Models from Digital Surface Models and GIS. In: ISPRS Workshop on 3D Reconstruction and Modelling of Topographic Objects, Stuttgart, Germany, pp. 68-76.

Haala, N.; Stallmann, D. & Cramer, M. [1997]
Geometetric processing of high resolution airborne scanner imagery using GPS-INS and ground control points. In: Third International Airborne Remote Sensing Conference and Exhibition, Vol. I, Copenhagen, Denmark, pp. 371-378.

Stätter, C. & Haala, N. [1997]
Analysis of High Spatial Resolution Multi-spectral Images. In: Third International Airborne Remote Sensing Conference and Exhibition, Vol. I, Copenhagen, Denmark, pp. 379-386.

Haala, N.; Cramer, M. & Kilian, J. [1996]
Sensor Fusion for Airborne 3D Data Capture. Second International Airborne Remote Sensing Conference and Exhibition, Vol. I, San Francisco, Ca, pp. 344-353.

Haala, N. & Anders, K.-H. [1996]
Fusion of 2D-GIS and Image Data for 3D Building Reconstruction. International Archives of Photogrammetry and Remote Sensing, Vol. 31/3, ISPRS, Vienna, Austria, pp. 285-290.

Kilian, J.; Haala, N. & Englich, M. [1996]
Capture and Evaluation of Airborne Laser Data. International Archives of Photogrammetry and Remote Sensing, Vol. 31/3, ISPRS, Vienna, Austria, pp. 383-388.

Haala, N. [1995]
Building Recognition by Combination of Image Data and Height Data. In: 'Proc. International Workshop on High Precision Navigation', SFB Hochgenaue Navigation, Dümmler Verlag, Bonn, pp. 351-358.

Haala, N. [1994]
Detection of Buildings by Fusion of Range and Image Data. IAPRS, Vol. 30/3, ISPRS Commission III, pp. 341-346, Munich, Germany.

Technical Reports

Hahn, M.; Sester, M. & Haala, N. [1995]
Bildzuordnung, Modellierung und Objekterfassung. SFB-Abschlußbericht über die Arbeiten im Teilprojekt C2 des Sonderforschungsbereiches 'Hochgenaue Navigation'.

Other Contributions

Fritsch, D.; Rothermel, M.; Wenzel, K.; Walter, V.; Becker, S.; Cramer, M. & Haala, N. [2013]
All About 3D Modelling – From 2.5D Meshes to 3D Virtual Reality Models. Lecture Notes, Tutorial PhoWo 2013. Institute for Photogrammetry, Univ. Stuttgart, 600p.

Fritsch, D.; Haala, N.; Walter, V.; Becker, S.; Budroni, A.; Wenzel, K.; Kosravani, A.; Milius, J. & Petters, C. [2011]
All About Point Clouds. Lecture Notes Tutorial Photogrammetric Week '11. Institute of Photogrammetry, University of Stuttgart, 280p.

Fritsch, D.; Cramer, M.; Haala, N.; Kada, M. & Walter, V. [2007]
Towards a Gigital Globe - Technologies, Projects and Niches. Lecture Notes, Tutorial Phowo 2007, Inst.Photogrammetrie, Univ. Stuttgart.

Fritsch, D.; Haala, N.; Cramer, M. & Böhm, J. [2005]
The Best of Photogrammetric Image Data Processing. Lecture Notes, Tutorial Photogrammetric Week '05, Institute for Photogrammetry (ifp), Univ. Stuttgart.

Fritsch, D.; Haala, N.; Kada, M. & Walter, V. [2003]
Lecture Notes. Tutorial Photogrammetric Week '03 (in D and E).

Fritsch, D.; Brenner, C.; Haala, N. & Walter, V. [1999]
Algorithms and Automation of Photogrammetric Data Processing. Lecture Notes Tutorial, 47. Photogrammetric Week, Technical report, Institute for Photogrammetry, Stuttgart.

Fritsch, D.; Cramer, M.; Haala, N.; Englich, M. & Ackermann, F. [1997]
Tutorial: GPS-INS-Integration '97. Technical report, Institut für Photogrammetrie, Stuttgart.

Fritsch, D.; Haala, N.; Hahn, M.& Sester, M. [1996]
Digital Photogrammetry in Small Scales. Lecture Notes Tutorial, ISPRS Congress, Vienna.