306 citations · 536 across the 10 of their papers we have counts for
9 papers · 1 filter
Traversing Mars: Cooperative Informative Path Planning to Efficiently Navigate Unknown Scenes
Friedrich M. Rockenbauer, Jaeyoung Lim, Marcus G. Müller +2
The ability to traverse an unknown environment is crucial for autonomous robot operations. However, due to the limited sensing capabilities and system constraints, approaching this…
Dynablox: Real-time Detection of Diverse Dynamic Objects in Complex Environments
Lukas Schmid, Olov Andersson, Aurelio Sulser +2
Real-time detection of moving objects is an essential capability for robots acting autonomously in dynamic environments. We thus propose Dynablox, a novel online mapping-based appr…
SC-Explorer: Incremental 3D Scene Completion for Safe and Efficient Exploration Mapping and Planning
Lukas Schmid, Mansoor Nasir Cheema, Victor Reijgwart +3
Exploration of unknown environments is a fundamental problem in robotics and an essential component in numerous applications of autonomous systems. A major challenge in exploring u…
3D VSG: Long-term Semantic Scene Change Prediction through 3D Variable Scene Graphs
Samuel Looper, Javier Rodriguez-Puigvert, Roland Siegwart +2
Numerous applications require robots to operate in environments shared with other agents, such as humans or other robots. However, such shared scenes are typically subject to diffe…
Embodied Active Domain Adaptation for Semantic Segmentation via Informative Path Planning
René Zurbrügg, Hermann Blum, Cesar Cadena +2
This work presents an embodied agent that can adapt its semantic segmentation network to new indoor environments in a fully autonomous way. Because semantic segmentation networks f…
Fast and Compute-efficient Sampling-based Local Exploration Planning via Distribution Learning
Lukas Schmid, Chao Ni, Yuliang Zhong +2
Exploration is a fundamental problem in robotics. While sampling-based planners have shown high performance, they are oftentimes compute intensive and can exhibit high variance. To…
Panoptic Multi-TSDFs: a Flexible Representation for Online Multi-resolution Volumetric Mapping and Long-term Dynamic Scene Consistency
Lukas Schmid, Jeffrey Delmerico, Johannes Schönberger +4
For robotic interaction in environments shared with other agents, access to volumetric and semantic maps of the scene is crucial. However, such environments are inevitably subject…
A Unified Approach for Autonomous Volumetric Exploration of Large Scale Environments under Severe Odometry Drift
Lukas Schmid, Victor Reijgwart, Lionel Ott +3
Exploration is a fundamental problem in robot autonomy. A major limitation, however, is that during exploration robots oftentimes have to rely on on-board systems alone for state e…
An Efficient Sampling-based Method for Online Informative Path Planning in Unknown Environments
Lukas Schmid, Michael Pantic, Raghav Khanna +3
The ability to plan informative paths online is essential to robot autonomy. In particular, sampling-based approaches are often used as they are capable of using arbitrary informat…