8 papers
MultiFly: A Real-World Multimodal Aerial Dataset with Annotation-Efficient Label Transfer and Cross-Modal Semantic Consistency
Markus Gross, Andreas Greiner, Taehyoung Kim +12
We introduce MultiFly, a real-world, low-altitude UAV dataset for semantic perception across RGB, thermal, LiDAR, and radar modalities. MultiFly provides 17,272 synchronized sample…
FlexPath: Adapting Learned Connectivity Guidance to Path Preferences
Taehyoung Kim, Tim Schoenbrod, David Eckel +1
Recent learning-based path planners use neural networks to process occupancy representations and approximate heuristics for classical search algorithms, yielding near-optimal paths…
SOCC-ICP: Semantics-Assisted Odometry based on Occupancy Grids and ICP
Johannes Scherer, Sebastian Hirt, Henri Meeß
Reliable pose estimation in previously unseen environments is a fundamental capability of autonomous systems. Existing LiDAR odometry methods typically employ point-, surfel-, or N…
SafeLand: Safe Autonomous Landing in Unknown Environments with Bayesian Semantic Mapping
Markus Gross, Andreas Greiner, Sai Bharadhwaj Matha +3
Autonomous landing of uncrewed aerial vehicles (UAVs) in unknown, dynamic environments poses significant safety challenges, particularly near people and infrastructure, as UAVs tra…
Hierarchical Lead Critic based Multi-Agent Reinforcement Learning
David Eckel, Henri Meeß
Cooperative Multi-Agent Reinforcement Learning (MARL) solves complex tasks that require coordination from multiple agents, but is often limited to either local (independent learnin…
OccuFly: A 3D Vision Benchmark for Semantic Scene Completion from the Aerial Perspective
Markus Gross, Sai B. Matha, Aya Fahmy +3
Semantic Scene Completion (SSC) is essential for 3D perception in mobile robotics, as it enables holistic scene understanding by jointly estimating dense volumetric occupancy and p…
IPFormer: Visual 3D Panoptic Scene Completion with Context-Adaptive Instance Proposals
Markus Gross, Aya Fahmy, Danit Niwattananan +4
Semantic Scene Completion (SSC) has emerged as a pivotal approach for jointly learning scene geometry and semantics, enabling downstream applications such as navigation in mobile r…
High Temporal Consistency through Semantic Similarity Propagation in Semi-Supervised Video Semantic Segmentation for Autonomous Flight
Cédric Vincent, Taehyoung Kim, Henri Meeß
Semantic segmentation from RGB cameras is essential to the perception of autonomous flying vehicles. The stability of predictions through the captured videos is paramount to their…