[7] From 2011 to 2014, he served as a Postdoctoral Researcher in the Computer Vision group at the Technical University of Munich (TUM), where he worked on real-time camera tracking and 3D person scanning methods.

In a collaborative effort, he presented a benchmark for RGB-D SLAM systems, offering high-quality image sequences with accurate ground truth camera poses, diverse scenes, and automatic evaluation tools accessible through a dedicated website.

[15] He also proposed a dense visual SLAM method for RGB-D cameras, alongside Daniel Cremers and Wolfram Burgard, improving pose accuracy by minimizing errors.

[16] Additionally, he showcased an RGB-D camera SLAM system for the Microsoft Kinect, assessing its accuracy, robustness, and speed across different indoor scenarios and offering it as open-source software.

[20] Furthermore, he presented a 3D reconstruction algorithm based on Truncated Signed Distance Functions (TSDF), addressing the challenge of representing dynamic environments for robots, with a focus on continuous refinement of static maps and robust scene differencing.