3 papers
cs.RO2026
Chance-Constrained MPPI under State and Dynamic Object Prediction Uncertainty and the Evaluation of Collision Risk Calibration
Benjamin Serfling, Konrad Doll, Kati Radkhah-Lens
Chance-constrained Model Predictive Path Integral (MPPI) control is increasingly adopted for navigation in dynamic environments to explicitly bound collision risk. However, these p…
cs.RO2025
Real Time Semantic Segmentation of High Resolution Automotive LiDAR Scans
Hannes Reichert, Benjamin Serfling, Elijah Schüssler +3
In recent studies, numerous previous works emphasize the importance of semantic segmentation of LiDAR data as a critical component to the development of driver-assistance systems a…
cs.RO2025
LiDAR Based Semantic Perception for Forklifts in Outdoor Environments
Benjamin Serfling, Hannes Reichert, Lorenzo Bayerlein +2
In this study, we present a novel LiDAR-based semantic segmentation framework tailored for autonomous forklifts operating in complex outdoor environments. Central to our approach i…