Cesar Dario Cadena Lerma

Katherine J. Kuchenbecker

Marco Hutter

CoRR, 2024

Tag Map: A Text-Based Map for Spatial Reasoning and Navigation with Large Language Models.

[BibT_eX]

[DOI]

CoRR, 2024

Informed, Constrained, Aligned: A Field Analysis on Degeneracy-aware Point Cloud Registration in the Wild.

[BibT_eX]

[DOI]

CoRR, 2024

MultiViPerFrOG: A Globally Optimized Multi-Viewpoint Perception Framework for Camera Motion and Tissue Deformation.

[BibT_eX]

[DOI]

CoRR, 2024

ROS-LLM: A ROS framework for embodied AI with task feedback and structured reasoning.

[BibT_eX]

[DOI]

CoRR, 2024

Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision.

[BibT_eX]

[DOI]

CoRR, 2024

VIRUS-NeRF - Vision, InfraRed and UltraSonic based Neural Radiance Fields.

[BibT_eX]

[DOI]

CoRR, 2024

Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

COIN-LIO: Complementary Intensity-Augmented LiDAR Inertial Odometry.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

2023

Seeing Through the Grass: Semantic Pointcloud Filter for Support Surface Learning.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., November, 2023

Modelify: An approach to incrementally build 3D object models for map completion.

[BibT_eX]

[DOI]

Int. J. Robotics Res., March, 2023

maplab 2.0 - A Modular and Multi-Modal Mapping Framework.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2023

iPlanner: Imperative Path Planning.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XIX, Daegu, 2023

Efficient volumetric mapping of multi-scale environments using wavelet-based compression.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XIX, Daegu, 2023

Fast Traversability Estimation for Wild Visual Navigation.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XIX, Daegu, 2023

Event-Based Classification of Defects in Civil Infrastructures with Artificial and Spiking Neural Networks.

[BibT_eX]

[DOI]

Udayanga G. W. K. N. Gamage

Proceedings of the Advances in Computational Intelligence, 2023

Path-Constrained State Estimation for Rail Vehicles.

[BibT_eX]

[DOI]

Proceedings of the 25th IEEE International Conference on Intelligent Transportation Systems, 2023

Local and Global Information in Obstacle Detection on Railway Tracks.

[BibT_eX]

[DOI]

IROS, 2023

Obstacle avoidance using Raycasting and Riemannian Motion Policies at kHz rates for MAVs.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

3D VSG: Long-term Semantic Scene Change Prediction through 3D Variable Scene Graphs.

[BibT_eX]

[DOI]

Samuel Looper

Javier Rodriguez Puigvert

Lukas Schmid

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

SphNet: A Spherical Network for Semantic Pointcloud Segmentation.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Unsupervised Continual Semantic Adaptation Through Neural Rendering.

[BibT_eX]

[DOI]

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2023

Robust and Efficient Edge-guided Pose Estimation with Resolution-conditioned NeRF.

[BibT_eX]

[DOI]

Liesbeth Claessens

Fabian Manhardt

Ricardo Martin-Brualla

Federico Tombari

Proceedings of the 34th British Machine Vision Conference 2023, 2023

2022

High-Precision Low-Cost Gimballing Platform for Long-Range Railway Obstacle Detection.

[BibT_eX]

[DOI]

Sensors, 2022

Embodied Active Domain Adaptation for Semantic Segmentation via Informative Path Planning.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2022

Continual Adaptation of Semantic Segmentation Using Complementary 2D-3D Data Representations.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2022

Linewise Non-Rigid Point Cloud Registration.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2022

Unsupervised Continual Semantic Adaptation through Neural Rendering.

[BibT_eX]

[DOI]

CoRR, 2022

A Framework for Collaborative Multi-Robot Mapping using Spectral Graph Wavelets.

[BibT_eX]

[DOI]

CoRR, 2022

Incremental 3D Scene Completion for Safe and Efficient Exploration Mapping and Planning.

[BibT_eX]

[DOI]

CoRR, 2022

Sampling-free obstacle gradients and reactive planning in Neural Radiance Fields (NeRF).

[BibT_eX]

[DOI]

CoRR, 2022

Descriptellation: Deep Learned Constellation Descriptors for SLAM.

[BibT_eX]

[DOI]

CoRR, 2022

SCIM: Simultaneous Clustering, Inference, and Mapping for Open-World Semantic Scene Understanding.

[BibT_eX]

[DOI]

Hermann Blum

Marcus Gerhard Müller

Abel Gawel

Proceedings of the Robotics Research, 2022

Don't Share My Face: Privacy Preserving Inpainting for Visual Localization.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

See Yourself in Others: Attending Multiple Tasks for Own Failure Detection.

[BibT_eX]

[DOI]

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Panoptic Multi-TSDFs: a Flexible Representation for Online Multi-resolution Volumetric Mapping and Long-term Dynamic Scene Consistency.

[BibT_eX]

[DOI]

Lukas Schmid

Jeffrey A. Delmerico

Johannes L. Schönberger

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Collaborative Robot Mapping using Spectral Graph Analysis.

[BibT_eX]

[DOI]

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

2021

Empty Cities: A Dynamic-Object-Invariant Space for Visual SLAM.

[BibT_eX]

[DOI]

Berta Bescós

IEEE Trans. Robotics, 2021

A Unified Approach for Autonomous Volumetric Exploration of Large Scale Environments Under Severe Odometry Drift.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2021

Mesh Manifold Based Riemannian Motion Planning for Omnidirectional Micro Aerial Vehicles.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2021

PHASER: A Robust and Correspondence-Free Global Pointcloud Registration.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2021

The Fishyscapes Benchmark: Measuring Blind Spots in Semantic Segmentation.

[BibT_eX]

[DOI]

Int. J. Comput. Vis., 2021

Continual Learning of Semantic Segmentation using Complementary 2D-3D Data Representations.

[BibT_eX]

[DOI]

CoRR, 2021

Superquadric Object Representation for Optimization-based Semantic SLAM.

[BibT_eX]

[DOI]

CoRR, 2021

Self-Improving Semantic Perception on a Construction Robot.

[BibT_eX]

[DOI]

CoRR, 2021

CalQNet - Detection of Calibration Quality for Life-Long Stereo Camera Setups.

[BibT_eX]

[DOI]

Proceedings of the IEEE Intelligent Vehicles Symposium, 2021

Out-of-Distribution Detection for Automotive Perception.

[BibT_eX]

[DOI]

Mykel J. Kochenderfer

Proceedings of the 24th IEEE International Intelligent Transportation Systems Conference, 2021

Spherical Multi-Modal Place Recognition for Heterogeneous Sensor Systems.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Pixel-Wise Anomaly Detection in Complex Driving Scenes.

[BibT_eX]

[DOI]

Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2021

Self-Improving Semantic Perception for Indoor Localisation.

[BibT_eX]

[DOI]

Proceedings of the Conference on Robot Learning, 8-11 November 2021, London, UK., 2021

NeuralBlox: Real-Time Neural Representation Fusion for Robust Volumetric Mapping.

[BibT_eX]

[DOI]

Proceedings of the International Conference on 3D Vision, 2021

2020

VersaVIS - An Open Versatile Multi-Camera Visual-Inertial Sensor Suite.

[BibT_eX]

[DOI]

Sensors, 2020

Voxgraph: Globally Consistent, Volumetric Mapping Using Signed Distance Function Submaps.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2020

Learning Densities in Feature Space for Reliable Segmentation of Indoor Scenes.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2020

Depth Based Semantic Scene Completion With Position Importance Aware Loss.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2020

SegMap: Segment-based mapping and localization using data-driven descriptors.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2020

Quantifying Aleatoric and Epistemic Uncertainty Using Density Estimation in Latent Space.

[BibT_eX]

[DOI]

CoRR, 2020

Freetures: Localization in Signed Distance Function Maps.

[BibT_eX]

[DOI]

CoRR, 2020

Deep Learning-based Human Detection for UAVs with Optical and Infrared Cameras: System and Experiments.

[BibT_eX]

[DOI]

CoRR, 2020

Precise Robot Localization in Architectural 3D Plans.

[BibT_eX]

[DOI]

CoRR, 2020

3D Gated Recurrent Fusion for Semantic Scene Completion.

[BibT_eX]

[DOI]

CoRR, 2020

Learning Common and Transferable Feature Representations for Multi-Modal Data.

[BibT_eX]

[DOI]

Proceedings of the IEEE Intelligent Vehicles Symposium, 2020

MOZARD: Multi-Modal Localization for Autonomous Vehicles in Urban Outdoor Environments.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Learning Camera Miscalibration Detection.

[BibT_eX]

[DOI]

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Learning Trajectories for Visual-Inertial System Calibration via Model-based Heuristic Deep Reinforcement Learning.

[BibT_eX]

[DOI]

Proceedings of the 4th Conference on Robot Learning, 2020

2019

Where Should I Walk? Predicting Terrain Properties From Images Via Self-Supervised Learning.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2019

Experimental Comparison of Visual-Aided Odometry Methods for Rail Vehicles.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2019

Volumetric Instance-Aware Semantic Mapping and 3D Object Discovery.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2019

Multiple Hypothesis Semantic Mapping for Robust Data Association.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2019

The current state and future outlook of rescue robotics.

[BibT_eX]

[DOI]

Luca Maria Gambardella

Sundara Tejaswi Digumarti

Davide Scaramuzza

J. Field Robotics, 2019

Appearance-based landmark selection for visual localization.

[BibT_eX]

[DOI]

J. Field Robotics, 2019

This is not what I imagined: Error Detection for Semantic Segmentation through Visual Dissimilarity.

[BibT_eX]

[DOI]

CoRR, 2019

Observability-aware Self-Calibration of Visual and Inertial Sensors for Ego-Motion Estimation.

[BibT_eX]

[DOI]

CoRR, 2019

3D multi-robot patrolling with a two-level coordination strategy.

[BibT_eX]

[DOI]

Auton. Robots, 2019

VIZARD: Reliable Visual Localization for Autonomous Vehicles in Urban Outdoor Environments.

[BibT_eX]

[DOI]

Proceedings of the 2019 IEEE Intelligent Vehicles Symposium, 2019

OREOS: Oriented Recognition of 3D Point Clouds in Outdoor Scenarios.

[BibT_eX]

[DOI]

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Free-Space Features: Global Localization in 2D Laser SLAM Using Distance Function Maps.

[BibT_eX]

[DOI]

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Flexible Trinocular: Non-rigid Multi-Camera-IMU Dense Reconstruction for UAV Navigation and Mapping.

[BibT_eX]

[DOI]

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Object Classification Based on Unsupervised Learned Multi-Modal Features For Overcoming Sensor Failures.

[BibT_eX]

[DOI]

Proceedings of the International Conference on Robotics and Automation, 2019

An Approach for Semantic Segmentation of Tree-like Vegetation.

[BibT_eX]

[DOI]

Lukas Maximilian Schmid

Proceedings of the International Conference on Robotics and Automation, 2019

Empty Cities: Image Inpainting for a Dynamic-Object-Invariant Space.

[BibT_eX]

[DOI]

Proceedings of the International Conference on Robotics and Automation, 2019

Fishyscapes: A Benchmark for Safe Semantic Segmentation in Autonomous Driving.

[BibT_eX]

[DOI]

Proceedings of the 2019 IEEE/CVF International Conference on Computer Vision Workshops, 2019

Predicting Unobserved Space for Planning via Depth Map Augmentation.

[BibT_eX]

[DOI]

Proceedings of the 19th International Conference on Advanced Robotics, 2019

Airborne Particle Classification in LiDAR Point Clouds Using Deep Learning.

[BibT_eX]

[DOI]

Proceedings of the Field and Service Robotics, 2019

From Coarse to Fine: Robust Hierarchical Localization at Large Scale.

[BibT_eX]

[DOI]

Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2019

2018

Reinforced Imitation: Sample Efficient Deep Reinforcement Learning for Mapless Navigation by Leveraging Prior Demonstrations.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2018

Free LSD: Prior-Free Visual Landing Site Detection for Autonomous Planes.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2018

X-View: Graph-Based Semantic Multiview Localization.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2018

Incremental-Segment-Based Localization in 3-D Point Clouds.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2018

Automatic Segmentation of Tree Structure From Point Cloud Data.

[BibT_eX]

[DOI]

Sundara Tejaswi Digumarti

IEEE Robotics Autom. Lett., 2018

Leveraging Deep Visual Descriptors for Hierarchical Efficient Localization.

[BibT_eX]

[DOI]

CoRR, 2018

Reinforced Imitation: Sample Efficient Deep Reinforcement Learning for Map-less Navigation by Leveraging Prior Demonstrations.

[BibT_eX]

[DOI]

CoRR, 2018

Aerial-Ground collaborative sensing: Third-Person view for teleoperation.

[BibT_eX]

[DOI]

Proceedings of the 2018 IEEE International Symposium on Safety, 2018

SegMap: 3D Segment Mapping using Data-Driven Descriptors.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XIV, 2018

Map Management for Efficient Long-Term Visual Localization in Outdoor Environments.

[BibT_eX]

[DOI]

Proceedings of the 2018 IEEE Intelligent Vehicles Symposium, 2018

3D Ground Point Classification for Automotive Scenarios.

[BibT_eX]

[DOI]

Proceedings of the 21st International Conference on Intelligent Transportation Systems, 2018

C-blox: A Scalable and Consistent TSDF-based Dense Mapping Approach.

[BibT_eX]

[DOI]

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Modular Sensor Fusion for Semantic Segmentation.

[BibT_eX]

[DOI]

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

A Data-driven Model for Interaction-Aware Pedestrian Motion Prediction in Object Cluttered Environments.

[BibT_eX]

[DOI]

Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

2017

TSDF Manifolds: A Scalable and Consistent Dense Mapping Approach.

[BibT_eX]

[DOI]

CoRR, 2017

X-View: Graph-Based Semantic Multi-View Localization.

[BibT_eX]

[DOI]

CoRR, 2017

Reliable real-time change detection and mapping for 3D LiDARs.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Symposium on Safety, Security and Rescue Robotics, 2017

3D registration of aerial and ground robots for disaster response: An evaluation of features, descriptors, and transformation estimation.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Symposium on Safety, Security and Rescue Robotics, 2017

An online multi-robot SLAM system for 3D LiDARs.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

From perception to decision: A data-driven approach to end-to-end motion planning for autonomous ground robots.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

TSDF-based change detection for consistent long-term dense reconstruction and dynamic object discovery.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

SegMatch: Segment based place recognition in 3D point clouds.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

2016

Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2016

SegMatch: Segment based loop-closure for 3D point clouds.

[BibT_eX]

[DOI]

CoRR, 2016

Simultaneous Localization And Mapping: Present, Future, and the Robust-Perception Age.

[BibT_eX]

[DOI]

CoRR, 2016

3D localization, mapping and path planning for search and rescue operations.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE International Symposium on Safety, 2016

Multi-modal Auto-Encoders as Joint Estimators for Robotics Scene Understanding.

[BibT_eX]

[DOI]

Anthony R. Dick

Proceedings of the Robotics: Science and Systems XII, University of Michigan, Ann Arbor, Michigan, USA, June 18, 2016

Measuring the performance of single image depth estimation methods.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Direct semi-dense SLAM for rolling shutter cameras.

[BibT_eX]

[DOI]

Jae-Hak Kim

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

2015

Semantic parsing for priming object detection in indoors RGB-D scenes.

[BibT_eX]

[DOI]

Jana Kosecká

Int. J. Robotics Res., 2015

A fast, modular scene understanding system using context-aware object detection.

[BibT_eX]

[DOI]

Anthony R. Dick

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Sequence searching with deep-learnt depth for condition- and viewpoint-invariant route-based place recognition.

[BibT_eX]

[DOI]

Proceedings of the 2015 IEEE Conference on Computer Vision and Pattern Recognition Workshops, 2015

2014

Robust graph SLAM back-ends: A comparative analysis.

[BibT_eX]

[DOI]

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Semantic segmentation with heterogeneous sensor coverages.

[BibT_eX]

[DOI]

Jana Kosecka

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

2013

Real-time 6-DOF multi-session visual SLAM over large-scale environments.

[BibT_eX]

[DOI]

John McDonald

Michael Kaess

John J. Leonard

Robotics Auton. Syst., 2013

Robust loop closing over time for pose graph SLAM.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2013

Recursive Inference for Prediction of Objects in Urban Environments.

[BibT_eX]

[DOI]

Jana Kosecká

Proceedings of the Robotics Research, 2013

2012

Robust Place Recognition With Stereo Sequences.

[BibT_eX]

[DOI]

Dorian Gálvez-López

Juan D. Tardós

IEEE Trans. Robotics, 2012

Robust Loop Closing Over Time.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems VIII, 2012

Realizing, reversing, recovering: Incremental robust loop closing over time using the iRRR algorithm.

[BibT_eX]

[DOI]

Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

2011

6-DOF Multi-session Visual SLAM using Anchor Nodes.

[BibT_eX]

[DOI]

John McDonald

Michael Kaess

John J. Leonard

Proceedings of the 5<sup>th</sup> European Conference on Mobile Robots, 2011

2010

SLAM in O(log n) with the Combined Kalman-Information Filter.

[BibT_eX]

[DOI]

Robotics Auton. Syst., 2010

Robust place recognition with stereo cameras.

[BibT_eX]

[DOI]

Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

2009

Efficient Large Scale SLAM Including Data Association using the Combined Filter.

[BibT_eX]

Fabio Ramos