b'Cesar Cadena'

research

∙ 12/01/2022

maplab 2.0 – A Modular and Multi-Modal Mapping Framework

Integration of multiple sensor modalities and deep learning into Simulta...

0 Andrei Cramariuc, et al. ∙

research

∙ 11/25/2022

Unsupervised Continual Semantic Adaptation through Neural Rendering

An increasing amount of applications rely on data-driven models that are...

0 Zhizheng Liu, et al. ∙

research

∙ 10/25/2022

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

The exploration of large-scale unknown environments can benefit from the...

0 Lukas Bernreiter, et al. ∙

research

∙ 10/24/2022

SphNet: A Spherical Network for Semantic Pointcloud Segmentation

Semantic segmentation for robotic systems can enable a wide range of app...

0 Lukas Bernreiter, et al. ∙

research

∙ 09/16/2022

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

Numerous applications require robots to operate in environments shared w...

0 Samuel Looper, et al. ∙

research

∙ 08/17/2022

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

Exploration of unknown environments is a fundamental problem in robotics...

11 Lukas Schmid, et al. ∙

research

∙ 06/21/2022

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

In order to operate in human environments, a robot's semantic perception...

0 Hermann Blum, et al. ∙

research

∙ 05/03/2022

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

This work investigates the use of Neural implicit representations, speci...

0 Michael Pantic, et al. ∙

research

∙ 03/01/2022

Descriptellation: Deep Learned Constellation Descriptors for SLAM

Current global localization descriptors in Simultaneous Localization and...

0 Chunwei Xing, et al. ∙

research

∙ 03/01/2022

Embodied Active Domain Adaptation for Semantic Segmentation via Informative Path Planning

This work presents an embodied agent that can adapt its semantic segment...

0 René Zurbrügg, et al. ∙

research

∙ 03/01/2022

Collaborative Robot Mapping using Spectral Graph Analysis

In this paper, we deal with the problem of creating globally consistent ...

0 Lukas Bernreiter, et al. ∙

research

∙ 11/03/2021

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

Semantic segmentation networks are usually pre-trained and not updated d...

0 Jonas Frey, et al. ∙

research

∙ 10/18/2021

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

We present a novel 3D mapping method leveraging the recent progress in n...

0 Stefan Lionar, et al. ∙

research

∙ 10/06/2021

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

Autonomous robots deal with unexpected scenarios in real environments. G...

0 Boyang Sun, et al. ∙

research

∙ 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...

0 Lukas Schmid, et al. ∙

research

∙ 09/20/2021

Superquadric Object Representation for Optimization-based Semantic SLAM

Introducing semantically meaningful objects to visual Simultaneous Local...

0 Florian Tschopp, et al. ∙

research

∙ 05/04/2021

Self-Improving Semantic Perception on a Construction Robot

We propose a novel robotic system that can improve its semantic percepti...

0 Hermann Blum, et al. ∙

research

∙ 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...

0 Lukas Bernreiter, et al. ∙

research

∙ 04/10/2021

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

Many mobile robotic platforms rely on an accurate knowledge of the extri...

0 Jiapeng Zhong, et al. ∙

research

∙ 03/09/2021

Pixel-wise Anomaly Detection in Complex Driving Scenes

The inability of state-of-the-art semantic segmentation methods to detec...

53 Giancarlo Di Biase, et al. ∙

research

∙ 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...

0 Michael Pantic, et al. ∙

research

∙ 02/03/2021

PHASER: a Robust and Correspondence-free Global Pointcloud Registration

We propose PHASER, a correspondence-free global registration of sensor-c...

0 Lukas Bernreiter, et al. ∙

research

∙ 12/08/2020

Multiple Hypothesis Semantic Mapping for Robust Data Association

In this paper, we present a semantic mapping approach with multiple hypo...

0 Lukas Bernreiter, et al. ∙

research

∙ 12/05/2020

Quantifying Aleatoric and Epistemic Uncertainty Using Density Estimation in Latent Space

The distribution of a neural network's latent representations has been s...

0 Janis Postels, et al. ∙

research

∙ 11/04/2020

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

Visual-inertial systems rely on precise calibrations of both camera intr...

0 Le Chen, et al. ∙

research

∙ 11/03/2020

Out-of-Distribution Detection for Automotive Perception

Neural networks (NNs) are widely used for object recognition tasks in au...

0 Julia Nitsch, et al. ∙

research

∙ 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...

0 Lukas Schmid, et al. ∙

research

∙ 10/19/2020

Freetures: Localization in Signed Distance Function Maps

Localization of a robotic system within a previously mapped environment ...

0 Alexander Millane, et al. ∙

research

∙ 10/15/2020

Empty Cities: a Dynamic-Object-Invariant Space for Visual SLAM

In this paper we present a data-driven approach to obtain the static ima...

0 Berta Bescós, et al. ∙

research

∙ 08/10/2020

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

In this paper, we present our deep learning-based human detection system...

9 Timo Hinzmann, et al. ∙

research

∙ 06/09/2020

Precise Robot Localization in Architectural 3D Plans

This paper presents a localization system for mobile robots enabling pre...

0 Hermann Blum, et al. ∙

research

∙ 05/24/2020

Learning Camera Miscalibration Detection

Self-diagnosis and self-repair are some of the key challenges in deployi...

11 Andrei Cramariuc, et al. ∙

research

∙ 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...

0 Victor Reijgwart, et al. ∙

research

∙ 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...

0 Lukas Schaupp, et al. ∙

research

∙ 02/17/2020

3D Gated Recurrent Fusion for Semantic Scene Completion

This paper tackles the problem of data fusion in the semantic scene comp...

0 Yu Liu, et al. ∙

research

∙ 01/29/2020

Depth Based Semantic Scene Completion with Position Importance Aware Loss

Semantic Scene Completion (SSC) refers to the task of inferring the 3D s...

14 Yu Liu, et al. ∙

research

∙ 12/05/2019

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

Robust and accurate pose estimation is crucial for many applications in ...

0 Florian Tschopp, et al. ∙

research

∙ 11/13/2019

Predicting Unobserved Space For Planning via Depth Map Augmentation

Safe and efficient path planning is crucial for autonomous mobile robots...

0 Marius Fehr, et al. ∙

research

∙ 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...

6 Renaud Dubé, et al. ∙

research

∙ 09/02/2019

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

There has been a remarkable progress in the accuracy of semantic segment...

20 David Haldimann, et al. ∙

research

∙ 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...

0 Timo Hinzmann, et al. ∙

research

∙ 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...

0 Alexander Millane, et al. ∙

research

∙ 08/01/2019

Learning Densities in Feature Space for Reliable Segmentation of Indoor Scenes

Deep learning has enabled remarkable advances in semantic segmentation a...

1 Nicolas Marchal, et al. ∙

research

∙ 06/23/2019

3D Multi-Robot Patrolling with a Two-Level Coordination Strategy

Teams of UGVs patrolling harsh and complex 3D environments can experienc...

0 Luigi Freda, et al. ∙

research

∙ 04/05/2019

The Fishyscapes Benchmark: Measuring Blind Spots in Semantic Segmentation

Deep learning has enabled impressive progress in the accuracy of semanti...

2 Hermann Blum, et al. ∙

research

∙ 04/01/2019

Experimental Comparison of Visual-Aided Odometry Methods for Rail Vehicles

Today, rail vehicle localization is based on infrastructure-side Balises...

0 Florian Tschopp, et al. ∙

research

∙ 03/19/2019

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

We introduce a novel method for oriented place recognition with 3D LiDAR...

0 Lukas Schaupp, et al. ∙

research

∙ 03/01/2019

Volumetric Instance-Aware Semantic Mapping and 3D Object Discovery

To autonomously navigate and plan interactions in real-world environment...

0 Margarita Grinvald, et al. ∙

research

∙ 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...

0 Mathias Bürki, et al. ∙

research

∙ 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...

0 Thomas Schneider, et al. ∙

Cesar Cadena

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