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08/23/2023
Path-Constrained State Estimation for Rail Vehicles
Globally rising demand for transportation by rail is pushing existing in...
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07/28/2023
Local and Global Information in Obstacle Detection on Railway Tracks
Reliable obstacle detection on railways could help prevent collisions th...
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06/02/2023
Efficient volumetric mapping of multi-scale environments using wavelet-based compression
Volumetric maps are widely used in robotics due to their desirable prope...
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05/15/2023
Fast Traversability Estimation for Wild Visual Navigation
Natural environments such as forests and grasslands are challenging for ...
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05/13/2023
Seeing Through the Grass: Semantic Pointcloud Filter for Support Surface Learning
Mobile ground robots require perceiving and understanding their surround...
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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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11/25/2022
Unsupervised Continual Semantic Adaptation through Neural Rendering
An increasing amount of applications rely on data-driven models that are...
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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...
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10/24/2022
SphNet: A Spherical Network for Semantic Pointcloud Segmentation
Semantic segmentation for robotic systems can enable a wide range of app...
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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...
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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...
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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...
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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...
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03/01/2022
Descriptellation: Deep Learned Constellation Descriptors for SLAM
Current global localization descriptors in Simultaneous Localization and...
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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...
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03/01/2022
Collaborative Robot Mapping using Spectral Graph Analysis
In this paper, we deal with the problem of creating globally consistent ...
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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...
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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...
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10/06/2021
See Yourself in Others: Attending Multiple Tasks for Own Failure Detection
Autonomous robots deal with unexpected scenarios in real environments. G...
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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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05/04/2021
Self-Improving Semantic Perception on a Construction Robot
We propose a novel robotic system that can improve its semantic percepti...
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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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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...
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03/09/2021
Pixel-wise Anomaly Detection in Complex Driving Scenes
The inability of state-of-the-art semantic segmentation methods to detec...
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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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02/03/2021
PHASER: a Robust and Correspondence-free Global Pointcloud Registration
We propose PHASER, a correspondence-free global registration of sensor-c...
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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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12/05/2020
Quantifying Aleatoric and Epistemic Uncertainty Using Density Estimation in Latent Space
The distribution of a neural network's latent representations has been s...
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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...
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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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10/19/2020
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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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...
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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...
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06/09/2020
Precise Robot Localization in Architectural 3D Plans
This paper presents a localization system for mobile robots enabling pre...
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05/24/2020
Learning Camera Miscalibration Detection
Self-diagnosis and self-repair are some of the key challenges in deployi...
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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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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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02/17/2020
3D Gated Recurrent Fusion for Semantic Scene Completion
This paper tackles the problem of data fusion in the semantic scene comp...
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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...
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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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11/13/2019
Predicting Unobserved Space For Planning via Depth Map Augmentation
Safe and efficient path planning is crucial for autonomous mobile robots...
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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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09/02/2019
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...
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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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08/01/2019
Learning Densities in Feature Space for Reliable Segmentation of Indoor Scenes
Deep learning has enabled remarkable advances in semantic segmentation a...
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06/23/2019
3D Multi-Robot Patrolling with a Two-Level Coordination Strategy
Teams of UGVs patrolling harsh and complex 3D environments can experienc...
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04/05/2019
