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12/01/2022
maplab 2.0 – A Modular and Multi-Modal Mapping Framework
Integration of multiple sensor modalities and deep learning into Simulta...
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02/03/2022
Spatial Computing and Intuitive Interaction: Bringing Mixed Reality and Robotics Together
Spatial computing – the ability of devices to be aware of their surround...
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09/21/2021
Panoptic Multi-TSDFs: a Flexible Representation for Online Multi-resolution Volumetric Mapping and Long-term Dynamic Scene Consistency
For robotic interaction in an environment shared with multiple agents, a...
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09/20/2021
Superquadric Object Representation for Optimization-based Semantic SLAM
Introducing semantically meaningful objects to visual Simultaneous Local...
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07/30/2021
SemSegMap- 3D Segment-Based Semantic Localization
Localization is an essential task for mobile autonomous robotic systems ...
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05/16/2021
TSDF++: A Multi-Object Formulation for Dynamic Object Tracking and Reconstruction
The ability to simultaneously track and reconstruct multiple objects mov...
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04/29/2021
Crowd against the machine: A simulation-based benchmark tool to evaluate and compare robot capabilities to navigate a human crowd
The evaluation of robot capabilities to navigate human crowds is essenti...
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04/17/2021
Spherical Multi-Modal Place Recognition for Heterogeneous Sensor Systems
In this paper, we propose a robust end-to-end multi-modal pipeline for p...
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02/20/2021
Mesh Manifold based Riemannian Motion Planning for Omnidirectional Micro Aerial Vehicles
This paper presents a novel on-line path planning method that enables ae...
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02/16/2021
Hough2Map – Iterative Event-based Hough Transform for High-Speed Railway Mapping
To cope with the growing demand for transportation on the railway system...
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02/03/2021
PHASER: a Robust and Correspondence-free Global Pointcloud Registration
We propose PHASER, a correspondence-free global registration of sensor-c...
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01/20/2021
Active Model Learning using Informative Trajectories for Improved Closed-Loop Control on Real Robots
Model-based controllers on real robots require accurate knowledge of the...
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01/04/2021
Volumetric Grasping Network: Real-time 6 DOF Grasp Detection in Clutter
General robot grasping in clutter requires the ability to synthesize gra...
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12/08/2020
Multiple Hypothesis Semantic Mapping for Robust Data Association
In this paper, we present a semantic mapping approach with multiple hypo...
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12/08/2020
NavRep: Unsupervised Representations for Reinforcement Learning of Robot Navigation in Dynamic Human Environments
Robot navigation is a task where reinforcement learning approaches are s...
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11/03/2020
Out-of-Distribution Detection for Automotive Perception
Neural networks (NNs) are widely used for object recognition tasks in au...
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10/20/2020
Autonomous Extension of a Symbolic Mobile Manipulation Skill Set
Today's methods of programming mobile manipulation systems' behavior for...
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10/19/2020
A Unified Approach for Autonomous Volumetric Exploration of Large Scale Environments under Severe Odometry Drift
Exploration is a fundamental problem in robot autonomy. A major limitati...
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10/19/2020
Freetures: Localization in Signed Distance Function Maps
Localization of a robotic system within a previously mapped environment ...
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08/13/2020
IDOL: A Framework for IMU-DVS Odometry using Lines
In this paper, we introduce IDOL, an optimization-based framework for IM...
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06/23/2020
Learning dynamics for improving control of overactuated flying systems
Overactuated omnidirectional flying vehicles are capable of generating f...
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04/27/2020
Voxgraph: Globally Consistent, Volumetric Mapping using Signed Distance Function Submaps
Globally consistent dense maps are a key requirement for long-term robot...
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04/02/2020
Go Fetch: Mobile Manipulation in Unstructured Environments
With humankind facing new and increasingly large-scale challenges in the...
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03/20/2020
Active Interaction Force Control for Omnidirectional Aerial Contact-Based Inspection
This paper presents and validates two approaches for active interaction ...
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03/20/2020
Design and optimal control of a tiltrotor micro aerial vehicle for efficient omnidirectional flight
Omnidirectional micro aerial vehicles are a growing field of research, w...
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03/02/2020
MOZARD: Multi-Modal Localization for Autonomous Vehicles in Urban Outdoor Environments
Visually poor scenarios are one of the main sources of failure in visual...
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02/25/2020
Whole-Body Control of a Mobile Manipulator using End-to-End Reinforcement Learning
Mobile manipulation is usually achieved by sequentially executing base a...
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12/05/2019
VersaVIS: An Open Versatile Multi-Camera Visual-Inertial Sensor Suite
Robust and accurate pose estimation is crucial for many applications in ...
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11/18/2019
Object Finding in Cluttered Scenes Using Interactive Perception
Object finding in clutter is a skill that requires both perception of th...
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11/08/2019
Building an Aerial-Ground Robotics System for Precision Farming
The application of autonomous robots in agriculture is gaining more and ...
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09/27/2019
SegMap: Segment-based mapping and localization using data-driven descriptors
Precisely estimating a robot's pose in a prior, global map is a fundamen...
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09/20/2019
An Efficient Sampling-based Method for Online Informative Path Planning in Unknown Environments
The ability to plan informative paths online is essential to robot auton...
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08/23/2019
Flexible Trinocular: Non-rigid Multi-Camera-IMU Dense Reconstruction for UAV Navigation and Mapping
In this paper, we propose a visual-inertial framework able to efficientl...
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08/05/2019
Free-Space Features: Global Localization in 2D Laser SLAM Using Distance Function Maps
In many applications, maintaining a consistent map of the environment is...
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07/22/2019
Revisiting Boustrophedon Coverage Path Planning as a Generalized Traveling Salesman Problem
In this paper, we present a path planner for low-altitude terrain covera...
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05/09/2019
An Omnidirectional Aerial Manipulation Platform for Contact-Based Inspection
This paper presents an omnidirectional aerial manipulation platform for ...
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04/05/2019
The Fishyscapes Benchmark: Measuring Blind Spots in Semantic Segmentation
Deep learning has enabled impressive progress in the accuracy of semanti...
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04/01/2019
Experimental Comparison of Visual-Aided Odometry Methods for Rail Vehicles
Today, rail vehicle localization is based on infrastructure-side Balises...
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03/01/2019
Volumetric Instance-Aware Semantic Mapping and 3D Object Discovery
To autonomously navigate and plan interactions in real-world environment...
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02/25/2019
Informative Path Planning and Mapping for Active Sensing Under Localization Uncertainty
Robotic platforms are emerging as a timely and cost-efficient tool for e...
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02/12/2019
VIZARD: Reliable Visual Localization for Autonomous Vehicles in Urban Outdoor Environments
Changes in appearance is one of the main sources of failure in visual lo...
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01/22/2019
Observability-aware Self-Calibration of Visual and Inertial Sensors for Ego-Motion Estimation
External effects such as shocks and temperature variations affect the ca...
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12/10/2018
A Complete System for Vision-Based Micro-Aerial Vehicle Mapping, Planning, and Flight in Cluttered Environments
We present a complete system for micro-aerial vehicle autonomous navigat...
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09/30/2018
AgriColMap: Aerial-Ground Collaborative 3D Mapping for Precision Farming
The combination of aerial survey capabilities of Unmanned Aerial Vehicle...
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09/08/2018
An informative path planning framework for UAV-based terrain monitoring
Unmanned aerial vehicles (UAVs) represent a new frontier in a wide range...
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08/08/2018
Map Management for Efficient Long-Term Visual Localization in Outdoor Environments
We present a complete map management process for a visual localization s...
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08/08/2018
Appearance-Based Landmark Selection for Efficient Long-Term Visual Localization
We present an online landmark selection method for distributed long-term...
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08/02/2018
Incremental Object Database: Building 3D Models from Multiple Partial Observations
Collecting 3D object datasets involves a large amount of manual work and...
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07/31/2018
WeedMap: A large-scale semantic weed mapping framework using aerial multispectral imaging and deep neural network for precision farming
We present a novel weed segmentation and mapping framework that processe...
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07/12/2018