7 papers
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…
Effort-Based Criticality Metrics for Evaluating 3D Perception Errors in Autonomous Driving
Sharang Kaul, Simon Bultmann, Mario Berk +1
Criticality metrics such as time-to-collision (TTC) quantify collision urgency but do not distinguish the operational consequences of false-positive (FP) and false-negative (FN) pe…
Contour Errors: Ego-Centric Matching for 3D Multi-Object Tracking Performance Evaluation
Sharang Kaul, Simon Bultmann, Mario Berk +2
Open-loop performance evaluation of 3D multi-object tracking in autonomous driving requires matching criteria that effectively penalize translational, shape, and orientation errors…
Anticipating Human Behavior for Safe Navigation and Efficient Collaborative Manipulation with Mobile Service Robots
Simon Bultmann, Raphael Memmesheimer, Jan Nogga +2
The anticipation of human behavior is a crucial capability for robots to interact with humans safely and efficiently. We employ a smart edge sensor network to provide global observ…
RoboCup@Home 2024 OPL Winner NimbRo: Anthropomorphic Service Robots using Foundation Models for Perception and Planning
Raphael Memmesheimer, Jan Nogga, Bastian Pätzold +8
We present the approaches and contributions of the winning team NimbRo@Home at the RoboCup@Home 2024 competition in the Open Platform League held in Eindhoven, NL. Further, we desc…