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cs.RO2026
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…
cs.RO2026
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…
cs.RO2026
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…