62 citations · 91 across the 9 of their papers we have counts for
9 papers
AnchorD: Metric Grounding of Monocular Depth Using Factor Graphs
Simon Dorer, Martin Büchner, Nick Heppert +1
Dense and accurate depth estimation is essential for robotic manipulation, grasping, and navigation, yet currently available depth sensors are prone to errors on transparent, specu…
Articulated 3D Scene Graphs for Open-World Mobile Manipulation
Martin Büchner, Adrian Röfer, Tim Engelbracht +5
Semantic scene understanding has enabled robots to reason and perform affordance-driven object interaction. Despite this, real-world manipulation remains fundamentally limited by t…
Hoi! - A Multimodal Dataset for Force-Grounded, Cross-View Articulated Manipulation
Tim Engelbracht, René Zurbrügg, Matteo Wohlrapp +5
We present a dataset for force-grounded, cross-view articulated manipulation that couples what is seen with what is done and what is felt during real human interaction. The dataset…
Visual Loop Closure Detection Through Deep Graph Consensus
Martin Büchner, Liza Dahiya, Simon Dorer +4
Visual loop closure detection traditionally relies on place recognition methods to retrieve candidate loops that are validated using computationally expensive RANSAC-based geometri…
Collaborative Dynamic 3D Scene Graphs for Open-Vocabulary Urban Scene Understanding
Tim Steinke, Martin Büchner, Niclas Vödisch +1
Mapping and scene representation are fundamental to reliable planning and navigation in mobile robots. While purely geometric maps using voxel grids allow for general navigation, o…
OpenLex3D: A Tiered Evaluation Benchmark for Open-Vocabulary 3D Scene Representations
Christina Kassab, Sacha Morin, Martin Büchner +5
3D scene understanding has been transformed by open-vocabulary language models that enable interaction via natural language. However, at present the evaluation of these representat…
Language-Grounded Dynamic Scene Graphs for Interactive Object Search with Mobile Manipulation
Daniel Honerkamp, Martin Büchner, Fabien Despinoy +2
To fully leverage the capabilities of mobile manipulation robots, it is imperative that they are able to autonomously execute long-horizon tasks in large unexplored environments. W…
Compositional Servoing by Recombining Demonstrations
Max Argus, Abhijeet Nayak, Martin Büchner +3
Learning-based manipulation policies from image inputs often show weak task transfer capabilities. In contrast, visual servoing methods allow efficient task transfer in high-precis…
Collaborative Dynamic 3D Scene Graphs for Automated Driving
Elias Greve, Martin Büchner, Niclas Vödisch +2
Maps have played an indispensable role in enabling safe and automated driving. Although there have been many advances on different fronts ranging from SLAM to semantics, building a…