209 citations · 266 across the 5 of their papers we have counts for
6 papers
Multiple Hypothesis Semantic Mapping for Robust Data Association
Lukas Bernreiter, Abel Gawel, Hannes Sommer +3
In this paper, we present a semantic mapping approach with multiple hypothesis tracking for data association. As semantic information has the potential to overcome ambiguity in mea…
SegMap: Segment-based mapping and localization using data-driven descriptors
Renaud Dubé, Andrei Cramariuc, Daniel Dugas +5
Precisely estimating a robot's pose in a prior, global map is a fundamental capability for mobile robotics, e.g. autonomous driving or exploration in disaster zones. This task, how…
Learning 3D Segment Descriptors for Place Recognition
Andrei Cramariuc, Renaud Dubé, Hannes Sommer +2
In the absence of global positioning information, place recognition is a key capability for enabling localization, mapping and navigation in any environment. Most place recognition…
Why and How to Avoid the Flipped Quaternion Multiplication
Hannes Sommer, Igor Gilitschenski, Michael Bloesch +3
Over the last decades quaternions have become a crucial and very successful tool for attitude representation in robotics and aerospace. However, there is a major problem that is co…
A Data-driven Model for Interaction-aware Pedestrian Motion Prediction in Object Cluttered Environments
Mark Pfeiffer, Giuseppe Paolo, Hannes Sommer +3
This paper reports on a data-driven, interaction-aware motion prediction approach for pedestrians in environments cluttered with static obstacles. When navigating in such workspace…
A Primer on the Differential Calculus of 3D Orientations
Michael Bloesch, Hannes Sommer, Tristan Laidlow +8
The proper handling of 3D orientations is a central element in many optimization problems in engineering. Unfortunately many researchers and engineers struggle with the formulation…