71 citations · 228 across the 26 of their papers we have counts for
7 papers · 1 filter
SRT3D: A Sparse Region-Based 3D Object Tracking Approach for the Real World
Manuel Stoiber, Martin Pfanne, Klaus H. Strobl +2
Region-based methods have become increasingly popular for model-based, monocular 3D tracking of texture-less objects in cluttered scenes. However, while they achieve state-of-the-a…
Introspective Robot Perception using Smoothed Predictions from Bayesian Neural Networks
Jianxiang Feng, Maximilian Durner, Zoltan-Csaba Marton +2
This work focuses on improving uncertainty estimation in the field of object classification from RGB images and demonstrates its benefits in two robotic applications. We employ a (…
GPGM-SLAM: a Robust SLAM System for Unstructured Planetary Environments with Gaussian Process Gradient Maps
Riccardo Giubilato, Cedric Le Gentil, Mallikarjuna Vayugundla +3
Simultaneous Localization and Mapping (SLAM) techniques play a key role towards long-term autonomy of mobile robots due to the ability to correct localization errors and produce co…
Towards Robust Monocular Visual Odometry for Flying Robots on Planetary Missions
Martin Wudenka, Marcus G. Müller, Nikolaus Demmel +4
In the future, extraterrestrial expeditions will not only be conducted by rovers but also by flying robots. The technical demonstration drone Ingenuity, that just landed on Mars, w…
Multi-Modal Loop Closing in Unstructured Planetary Environments with Visually Enriched Submaps
Riccardo Giubilato, Mallikarjuna Vayugundla, Wolfgang Stürzl +3
Future planetary missions will rely on rovers that can autonomously explore and navigate in unstructured environments. An essential element is the ability to recognize places that…
Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenes
Martin Sundermeyer, Arsalan Mousavian, Rudolph Triebel +1
Grasping unseen objects in unconstrained, cluttered environments is an essential skill for autonomous robotic manipulation. Despite recent progress in full 6-DoF grasp learning, ex…
Unknown Object Segmentation from Stereo Images
Maximilian Durner, Wout Boerdijk, Martin Sundermeyer +3
Although instance-aware perception is a key prerequisite for many autonomous robotic applications, most of the methods only partially solve the problem by focusing solely on known…