Sebastian Scherer

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TP-TIO: A Robust Thermal-Inertial Odometry with Deep ThermalPoint

To achieve robust motion estimation in visually degraded environments, t...
12/07/2020 ∙ by Shibo Zhao, et al. ∙ 0 ∙ share

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Batteries, camera, action! Learning a semantic control space for expressive robot cinematography

Aerial vehicles are revolutionizing the way film-makers can capture shot...
11/19/2020 ∙ by Rogerio Bonatti, et al. ∙ 0 ∙ share

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Attitude and Thrust Strategies for Fully-Actuated Multirotors: The Fast-Track to Real-World Applications

The introduction of fully-actuated multirotors has opened the door to ne...
11/12/2020 ∙ by Azarakhsh Keipour, et al. ∙ 0 ∙ share

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Do You See What I See? Coordinating Multiple Aerial Cameras for Robot Cinematography

Aerial cinematography is significantly expanding the capabilities of fil...
11/10/2020 ∙ by Arthur Bucker, et al. ∙ 0 ∙ share

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ULSD: Unified Line Segment Detection across Pinhole, Fisheye, and Spherical Cameras

Line segment detection is essential for high-level tasks in computer vis...
11/06/2020 ∙ by Hao Li, et al. ∙ 2 ∙ share

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TartanVO: A Generalizable Learning-based VO

We present the first learning-based visual odometry (VO) model, which ge...
10/31/2020 ∙ by Wenshan Wang, et al. ∙ 0 ∙ share

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A Robust Laser-Inertial Odometry and Mapping Method for Large-Scale Highway Environments

In this paper, we propose a novel laser-inertial odometry and mapping me...
09/06/2020 ∙ by Shibo Zhao, et al. ∙ 0 ∙ share

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Monocular Camera Localization in Prior LiDAR Maps with 2D-3D Line Correspondences

Light-weight camera localization in existing maps is essential for visio...
04/01/2020 ∙ by Huai Yu, et al. ∙ 0 ∙ share

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Line-based Camera Pose Estimation in Point Cloud of Structured Environments

Accurate registration of 2D imagery with point clouds is a key technolog...
11/23/2019 ∙ by Huai Yu, et al. ∙ 0 ∙ share

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Deep-Learning Assisted High-Resolution Binocular Stereo Depth Reconstruction

This work presents dense stereo reconstruction using high-resolution ima...
11/23/2019 ∙ by Yaoyu Hu, et al. ∙ 0 ∙ share

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LiDAR Enhanced Structure-from-Motion

Although Structure-from-Motion (SfM) as a maturing technique has been wi...
11/08/2019 ∙ by Weikun Zhen, et al. ∙ 0 ∙ share

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Autonomous Aerial Cinematography In Unstructured Environments With Learned Artistic Decision-Making

Aerial cinematography is revolutionizing industries that require live an...
10/15/2019 ∙ by Rogerio Bonatti, et al. ∙ 24 ∙ share

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A Stereo Algorithm for Thin Obstacles and Reflective Objects

Stereo cameras are a popular choice for obstacle avoidance for outdoor l...
10/03/2019 ∙ by John Keller, et al. ∙ 0 ∙ share

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Learning Controls Using Cross-Modal Representations: Bridging Simulation and Reality for Drone Racing

Machines are a long way from robustly solving open-world perception-cont...
09/16/2019 ∙ by Rogerio Bonatti, et al. ∙ 2 ∙ share

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ALFA: A Dataset for UAV Fault and Anomaly Detection

We present a dataset of several fault types in control surfaces of a fix...
07/14/2019 ∙ by Azarakhsh Keipour, et al. ∙ 0 ∙ share

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A Joint Optimization Approach of LiDAR-Camera Fusion for Accurate Dense 3D Reconstructions

Fusing data from LiDAR and camera is conceptually attractive because of ...
07/01/2019 ∙ by Weikun Zhen, et al. ∙ 0 ∙ share

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Automatic Real-time Anomaly Detection for Autonomous Aerial Vehicles

The recent increase in the use of aerial vehicles raises concerns about ...
07/01/2019 ∙ by Azarakhsh Keipour, et al. ∙ 0 ∙ share

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Can a Robot Become a Movie Director? Learning Artistic Principles for Aerial Cinematography

Aerial filming is becoming more and more popular thanks to the recent ad...
04/04/2019 ∙ by Mirko Gschwindt, et al. ∙ 0 ∙ share

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Towards a Robust Aerial Cinematography Platform: Localizing and Tracking Moving Targets in Unstructured Environments

The use of drones for aerial cinematography has revolutionized several a...
04/04/2019 ∙ by Rogerio Bonatti, et al. ∙ 0 ∙ share

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Improved Generalization of Heading Direction Estimation for Aerial Filming Using Semi-supervised Regression

In the task of Autonomous aerial filming of a moving actor (e.g. a perso...
03/26/2019 ∙ by Wenshan Wang, et al. ∙ 0 ∙ share

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Monocular and Stereo Cues for Landing Zone Evaluation for Micro UAVs

Autonomous and safe landing is important for unmanned aerial vehicles. W...
12/09/2018 ∙ by Rohit Garg, et al. ∙ 0 ∙ share

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Joint Point Cloud and Image Based Localization For Efficient Inspection in Mixed Reality

This paper introduces a method of structure inspection using mixed-reali...
11/05/2018 ∙ by Manash Pratim Das, et al. ∙ 0 ∙ share

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A Unified 3D Mapping Framework using a 3D or 2D LiDAR

Simultaneous Localization and Mapping (SLAM) has been considered as a so...
10/30/2018 ∙ by Weikun Zhen, et al. ∙ 0 ∙ share

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Integrating kinematics and environment context into deep inverse reinforcement learning for predicting off-road vehicle trajectories

Predicting the motion of a mobile agent from a third-person perspective ...
10/16/2018 ∙ by Yanfu Zhang, et al. ∙ 0 ∙ share

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Open Problems in Robotic Anomaly Detection

Failures in robotics can have disastrous consequences that worsen rapidl...
09/10/2018 ∙ by Ritwik Gupta, et al. ∙ 0 ∙ share

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Monocular Object and Plane SLAM in Structured Environments

We present a monocular Simultaneous Localization and Mapping (SLAM) usin...
09/10/2018 ∙ by Shichao Yang, et al. ∙ 0 ∙ share

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Autonomous drone cinematographer: Using artistic principles to create smooth, safe, occlusion-free trajectories for aerial filming

Autonomous aerial cinematography has the potential to enable automatic c...
08/28/2018 ∙ by Rogerio Bonatti, et al. ∙ 10 ∙ share

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CubeSLAM: Monocular 3D Object Detection and SLAM without Prior Models

We present a method for single image 3D cuboid object detection and mult...
06/01/2018 ∙ by Shichao Yang, et al. ∙ 0 ∙ share

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Hindsight is Only 50/50: Unsuitability of MDP based Approximate POMDP Solvers for Multi-resolution Information Gathering

Partially Observable Markov Decision Processes (POMDPs) offer an elegant...
04/07/2018 ∙ by Sankalp Arora, et al. ∙ 0 ∙ share

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Bayesian Active Edge Evaluation on Expensive Graphs

Robots operate in environments with varying implicit structure. For inst...
11/20/2017 ∙ by Sanjiban Choudhury, et al. ∙ 0 ∙ share

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Data-driven Planning via Imitation Learning

Robot planning is the process of selecting a sequence of actions that op...
11/17/2017 ∙ by Sanjiban Choudhury, et al. ∙ 0 ∙ share

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Robust Localization of an Arbitrary Distribution of Radioactive Sources for Aerial Inspection

Radiation source detection has seen various applications in the past dec...
10/04/2017 ∙ by Dhruv Shah, et al. ∙ 0 ∙ share

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Semantic 3D Occupancy Mapping through Efficient High Order CRFs

Semantic 3D mapping can be used for many applications such as robot navi...
07/24/2017 ∙ by Shichao Yang, et al. ∙ 0 ∙ share

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Learning Heuristic Search via Imitation

Robotic motion planning problems are typically solved by constructing a ...
07/10/2017 ∙ by Mohak Bhardwaj, et al. ∙ 0 ∙ share

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Pop-up SLAM: Semantic Monocular Plane SLAM for Low-texture Environments

Existing simultaneous localization and mapping (SLAM) algorithms are not...
03/21/2017 ∙ by Shichao Yang, et al. ∙ 0 ∙ share

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Direct Monocular Odometry Using Points and Lines

Most visual odometry algorithm for a monocular camera focuses on points,...
03/19/2017 ∙ by Shichao Yang, et al. ∙ 0 ∙ share

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Sebastian Scherer

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