11 papers
Latent Gaussian Splatting for 4D Panoptic Occupancy Tracking
Maximilian Luz, Rohit Mohan, Thomas Nürnberg +3
Capturing 4D spatiotemporal scene structure is crucial for the safe and reliable operation of robots in dynamic environments. However, existing approaches typically address only pa…
Self-Supervised Online Robot-Agnostic Traversability Estimation for Open-World Environments
Julia Hindel, Simon Bultmann, Houman Masnavi +2
Self-supervised online traversability estimation enables robots to continuously learn from unlabeled open-world experiences and adapt their navigation behavior toward safe and effi…
Joint Target-Less Intrinsic and Extrinsic Camera-LiDAR Calibration using Deep Point Correspondences
Simon Bultmann, Daniele Cattaneo, Abhinav Valada
Accurate camera-LiDAR calibration is a prerequisite for robust multi-modal perception in robotics. Recent target-less approaches based on deep point correspondences achieve remarka…
Bridging Perspectives: Foundation Model Guided BEV Maps for 3D Object Detection and Tracking
Markus Käppeler, Ãzgün Ãiçek, Daniele Cattaneo +3
Camera-based 3D object detection and tracking are essential for perception in autonomous driving. Current state-of-the-art approaches often rely exclusively on either perspective-v…
Open-Set LiDAR Panoptic Segmentation Guided by Uncertainty-Aware Learning
Rohit Mohan, Julia Hindel, Florian Drews +3
Autonomous vehicles that navigate in open-world environments may encounter previously unseen object classes. However, most existing LiDAR panoptic segmentation models rely on close…
Dynamic Robot-Assisted Surgery with Hierarchical Class-Incremental Semantic Segmentation
Julia Hindel, Ema Mekic, Enamundram Naga Karthik +4
Robot-assisted surgeries rely on accurate and real-time scene understanding to safely guide surgical instruments. However, segmentation models trained on static datasets face key l…