19 citations · 20 across the 14 of their papers we have counts for
16 papers
Scalix: Uncertainty-Aware Scale-Consistent Monocular SLAM
Sebastian Barbas Laina, Tianyi Zhang, Panagiotis Petropoulakis +5
Cameras are ubiquitous sensors in robotics due to their compact form factor and the perceptual richness captured through visual information. Monocular SLAM enables robots to unders…
SpotlessGS: Relightable 3D Gaussian Splatting under Dynamic Illumination for Robotic Perception
Liang Hong, Jiaxin Wei, Simon Schaefer +2
Robots operating in dark or poorly lit environments rely on onboard lights, which often produce uneven illumination that degrades downstream perception tasks. Prior approaches base…
Large-Scale High-Quality 3D Gaussian Head Reconstruction from Multi-View Captures
Evangelos Ntavelis, Sean Wu, Mohamad Shahbazi +21
We propose HeadsUp, a scalable feed-forward method for reconstructing high-quality 3D Gaussian heads from large-scale multi-camera setups. Our method employs an efficient encoder-d…
Robot Self-Improvement via Human-Video Dynamics Models
Hanzhi Chen, Anran Zhang, Simon Schaefer +5
A central question in robot learning is how to acquire skills from the kinds of data that humans learn from: passive observation, embodied practice, and the experience of failure.…
HumanFlow -- Diffusion-Driven MAV Navigation Among Humans via Tightly-Coupled Motion Tracking, Forecasting, and Control
Simon Schaefer, Joshua Näf, Stefan Leutenegger
Robust and accurate perception of humans in their 3D scene context is essential for integrating robots into everyday environments. Existing approaches, however, often fail to predi…
GOPLA: Generalizable Object Placement Learning via Synthetic Augmentation of Human Arrangement
Yao Zhong, Hanzhi Chen, Simon Schaefer +2
Robots are expected to serve as intelligent assistants, helping humans with everyday household organization. A central challenge in this setting is the task of object placement, wh…
HumanHalo: Safe and Efficient 3D Navigation Among Humans via Minimally Conservative MPC
Simon Schaefer, Helen Oleynikova, Sandra Hirche +1
Safe and efficient robotic navigation among humans is essential for integrating robots into everyday environments. Most existing approaches focus on simplified 2D crowd navigation…
GSFix3D: Diffusion-Guided Repair of Novel Views in Gaussian Splatting
Jiaxin Wei, Stefan Leutenegger, Simon Schaefer
Recent developments in 3D Gaussian Splatting have significantly enhanced novel view synthesis, yet generating high-quality renderings from extreme novel viewpoints or partially obs…
FindAnything: Open-Vocabulary and Object-Centric Mapping for Robot Exploration in Any Environment
Sebastián Barbas Laina, Simon Boche, Sotiris Papatheodorou +4
Geometrically accurate and semantically expressive map representations have proven invaluable for robot deployment and task planning in unknown environments. Nevertheless, real-tim…
SuperEvent: Cross-Modal Learning of Event-based Keypoint Detection for SLAM
Yannick Burkhardt, Simon Schaefer, Stefan Leutenegger
Event-based keypoint detection and matching holds significant potential, enabling the integration of event sensors into highly optimized Visual SLAM systems developed for frame cam…
Online Tree Reconstruction and Forest Inventory on a Mobile Robotic System
Leonard Freißmuth, Matias Mattamala, Nived Chebrolu +3
Terrestrial laser scanning (TLS) is the standard technique used to create accurate point clouds for digital forest inventories. However, the measurement process is demanding, requi…
SC-Diff: 3D Shape Completion with Latent Diffusion Models
Simon Schaefer, Juan D. Galvis, Xingxing Zuo +1
We present a novel 3D shape completion framework that unifies multimodal conditioning, leveraging both 2D images and 3D partial scans through a latent diffusion model. Shapes are r…
DynamicGlue: Epipolar and Time-Informed Data Association in Dynamic Environments using Graph Neural Networks
Theresa Huber, Simon Schaefer, Stefan Leutenegger
The assumption of a static environment is common in many geometric computer vision tasks like SLAM but limits their applicability in highly dynamic scenes. Since these tasks rely o…
Scalable Outdoors Autonomous Drone Flight with Visual-Inertial SLAM and Dense Submaps Built without LiDAR
Sebastián Barbas Laina, Simon Boche, Sotiris Papatheodorou +4
Autonomous navigation is needed for several robotics applications. In this paper we present an autonomous Micro Aerial Vehicle (MAV) system which purely relies on cost-effective an…
GloPro: Globally-Consistent Uncertainty-Aware 3D Human Pose Estimation & Tracking in the Wild
Simon Schaefer, Dorian F. Henning, Stefan Leutenegger
An accurate and uncertainty-aware 3D human body pose estimation is key to enabling truly safe but efficient human-robot interactions. Current uncertainty-aware methods in 3D human…
BodySLAM++: Fast and Tightly-Coupled Visual-Inertial Camera and Human Motion Tracking
Dorian F. Henning, Christopher Choi, Simon Schaefer +1
Robust, fast, and accurate human state - 6D pose and posture - estimation remains a challenging problem. For real-world applications, the ability to estimate the human state in rea…