652 citations · 7k across the 163 of their papers we have counts for
29 papers · 1 filter
VersaVIS: An Open Versatile Multi-Camera Visual-Inertial Sensor Suite
Florian Tschopp, Michael Riner, Marius Fehr +7
Robust and accurate pose estimation is crucial for many applications in mobile robotics. Extending visual Simultaneous Localization and Mapping (SLAM) with other modalities such as…
A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction
Abel Gawel, Hermann Blum, Johannes Pankert +9
We present a fully-integrated sensing and control system which enables mobile manipulator robots to execute building tasks with millimeter-scale accuracy on building construction s…
Predicting Unobserved Space For Planning via Depth Map Augmentation
Marius Fehr, Tim Taubner, Yang Liu +2
Safe and efficient path planning is crucial for autonomous mobile robots. A prerequisite for path planning is to have a comprehensive understanding of the 3D structure of the robot…
Object Finding in Cluttered Scenes Using Interactive Perception
Tonci Novkovic, Remi Pautrat, Fadri Furrer +3
Object finding in clutter is a skill that requires perception of the environment and in many cases physical interaction. In robotics, interactive perception defines a set of algori…
Building an Aerial-Ground Robotics System for Precision Farming: An Adaptable Solution
Alberto Pretto, Stéphanie Aravecchia, Wolfram Burgard +25
The application of autonomous robots in agriculture is gaining increasing popularity thanks to the high impact it may have on food security, sustainability, resource use efficiency…
SegMap: Segment-based mapping and localization using data-driven descriptors
Renaud Dubé, Andrei Cramariuc, Daniel Dugas +5
Precisely estimating a robot's pose in a prior, global map is a fundamental capability for mobile robotics, e.g. autonomous driving or exploration in disaster zones. This task, how…
This is not what I imagined: Error Detection for Semantic Segmentation through Visual Dissimilarity
David Haldimann, Hermann Blum, Roland Siegwart +1
There has been a remarkable progress in the accuracy of semantic segmentation due to the capabilities of deep learning. Unfortunately, these methods are not able to generalize much…
An Efficient Sampling-based Method for Online Informative Path Planning in Unknown Environments
Lukas Schmid, Michael Pantic, Raghav Khanna +3
The ability to plan informative paths online is essential to robot autonomy. In particular, sampling-based approaches are often used as they are capable of using arbitrary informat…
Flexible Trinocular: Non-rigid Multi-Camera-IMU Dense Reconstruction for UAV Navigation and Mapping
Timo Hinzmann, Cesar Cadena, Juan Nieto +1
In this paper, we propose a visual-inertial framework able to efficiently estimate the camera poses of a non-rigid trinocular baseline for long-range depth estimation on-board a fa…
Long-Duration Fully Autonomous Operation of Rotorcraft Unmanned Aerial Systems for Remote-Sensing Data Acquisition
Danylo Malyuta, Christian Brommer, Daniel Hentzen +3
Recent applications of unmanned aerial systems (UAS) to precision agriculture have shown increased ease and efficiency in data collection at precise remote locations. However, furt…
Disturbance Estimation and Rejection for High-Precision Multirotor Position Control
Daniel Hentzen, Thomas Stastny, Roland Siegwart +1
Many multirotor Unmanned Aerial Systems applications have a critical need for precise position control in environments with strong dynamic external disturbances such as wind gusts…
Free-Space Features: Global Localization in 2D Laser SLAM Using Distance Function Maps
Alexander Millane, Helen Oleynikova, Juan Nieto +2
In many applications, maintaining a consistent map of the environment is key to enabling robotic platforms to perform higher-level decision making. Detection of already visited loc…
On Flying Backwards: Preventing Run-away of Small, Low-speed, Fixed-wing UAVs in Strong Winds
Thomas Stastny, Roland Siegwart
Small, low-speed fixed-wing Unmanned Aerial Vehicles (UAVs) operating autonomously, beyond-visual-line-of-sight (BVLOS) will inevitably encounter winds rising to levels near or exc…
Active Learning for UAV-based Semantic Mapping
Hermann Blum, Silvan Rohrbach, Marija Popovic +2
Unmanned aerial vehicles combined with computer vision systems, such as convolutional neural networks, offer a flexible and affordable solution for terrain monitoring, mapping, and…
Learning Densities in Feature Space for Reliable Segmentation of Indoor Scenes
Nicolas Marchal, Charlotte Moraldo, Roland Siegwart +3
Deep learning has enabled remarkable advances in scene understanding, particularly in semantic segmentation tasks. Yet, current state of the art approaches are limited to a closed…
Revisiting Boustrophedon Coverage Path Planning as a Generalized Traveling Salesman Problem
Rik Bähnemann, Nicholas Lawrance, Jen Jen Chung +3
In this paper, we present a path planner for low-altitude terrain coverage in known environments with unmanned rotary-wing micro aerial vehicles (MAVs). Airborne systems can assist…
Large-scale, real-time visual-inertial localization revisited
Simon Lynen, Bernhard Zeisl, Dror Aiger +5
The overarching goals in image-based localization are scale, robustness and speed. In recent years, approaches based on local features and sparse 3D point-cloud models have both do…
3D Multi-Robot Patrolling with a Two-Level Coordination Strategy
Luigi Freda, Mario Gianni, Fiora Pirri +4
Teams of UGVs patrolling harsh and complex 3D environments can experience interference and spatial conflicts with one another. Neglecting the occurrence of these events crucially h…
AMZ Driverless: The Full Autonomous Racing System
Juraj Kabzan, Miguel de la Iglesia Valls, Victor Reijgwart +19
This paper presents the algorithms and system architecture of an autonomous racecar. The introduced vehicle is powered by a software stack designed for robustness, reliability, and…
An Omnidirectional Aerial Manipulation Platform for Contact-Based Inspection
Karen Bodie, Maximilian Brunner, Michael Pantic +5
This paper presents an omnidirectional aerial manipulation platform for robust and responsive interaction with unstructured environments, toward the goal of contact-based inspectio…
The Fishyscapes Benchmark: Measuring Blind Spots in Semantic Segmentation
Hermann Blum, Paul-Edouard Sarlin, Juan Nieto +2
Deep learning has enabled impressive progress in the accuracy of semantic segmentation. Yet, the ability to estimate uncertainty and detect failure is key for safety-critical appli…
Experimental Comparison of Visual-Aided Odometry Methods for Rail Vehicles
Florian Tschopp, Thomas Schneider, Andrew W. Palmer +4
Today, rail vehicle localization is based on infrastructure-side Balises (beacons) together with on-board odometry to determine whether a rail segment is occupied. Such a coarse lo…
OREOS: Oriented Recognition of 3D Point Clouds in Outdoor Scenarios
Lukas Schaupp, Mathias Bürki, Renaud Dubé +2
We introduce a novel method for oriented place recognition with 3D LiDAR scans. A Convolutional Neural Network is trained to extract compact descriptors from single 3D LiDAR scans.…
Attitude- and Cruise Control of a VTOL Tiltwing UAV
David Rohr, Thomas Stastny, Sebastian Verling +1
This paper presents the mathematical modeling, controller design, and flight-testing of an over-actuated Vertical Take-off and Landing (VTOL) tiltwing Unmanned Aerial Vehicle (UAV)…