41 citations · 155 across the 15 of their papers we have counts for
20 papers
SCIM: Simultaneous Clustering, Inference, and Mapping for Open-World Semantic Scene Understanding
Hermann Blum, Marcus G. Müller, Abel Gawel +2
In order to operate in human environments, a robot's semantic perception has to overcome open-world challenges such as novel objects and domain gaps. Autonomous deployment to such…
SL Sensor: An Open-Source, ROS-Based, Real-Time Structured Light Sensor for High Accuracy Construction Robotic Applications
Teng Foong Lam, Hermann Blum, Roland Siegwart +1
High accuracy 3D surface information is required for many construction robotics tasks such as automated cement polishing or robotic plaster spraying. However, consumer-grade depth…
Self-Improving Semantic Perception for Indoor Localisation
Hermann Blum, Francesco Milano, René Zurbrügg +3
We propose a novel robotic system that can improve its perception during deployment. Contrary to the established approach of learning semantics from large datasets and deploying fi…
Multiple Hypothesis Semantic Mapping for Robust Data Association
Lukas Bernreiter, Abel Gawel, Hannes Sommer +3
In this paper, we present a semantic mapping approach with multiple hypothesis tracking for data association. As semantic information has the potential to overcome ambiguity in mea…
Precise Robot Localization in Architectural 3D Plans
Hermann Blum, Julian Stiefel, Cesar Cadena +2
This paper presents a localization system for mobile robots enabling precise localization in inaccurate building models. The approach leverages local referencing to counteract inhe…
Accurate Mapping and Planning for Autonomous Racing
Leiv Andresen, Adrian Brandemuehl, Alex Hönger +11
This paper presents the perception, mapping, and planning pipeline implemented on an autonomous race car. It was developed by the 2019 AMZ driverless team for the Formula Student G…
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…
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…
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…
Local Descriptor for Robust Place Recognition using LiDAR Intensity
Jiadong Guo, Paulo V. K. Borges, Chanoh Park +1
Place recognition is a challenging problem in mobile robotics, especially in unstructured environments or under viewpoint and illumination changes. Most LiDAR-based methods rely on…
Redundant Perception and State Estimation for Reliable Autonomous Racing
Nikhil Bharadwaj Gosala, Andreas Bühler, Manish Prajapat +9
In autonomous racing, vehicles operate close to the limits of handling and a sensor failure can have critical consequences. To limit the impact of such failures, this paper present…
Incremental Object Database: Building 3D Models from Multiple Partial Observations
Fadri Furrer, Tonci Novkovic, Marius Fehr +5
Collecting 3D object datasets involves a large amount of manual work and is time consuming. Getting complete models of objects either requires a 3D scanner that covers all the surf…
Modular Sensor Fusion for Semantic Segmentation
Hermann Blum, Abel Gawel, Roland Siegwart +1
Sensor fusion is a fundamental process in robotic systems as it extends the perceptual range and increases robustness in real-world operations. Current multi-sensor deep learning b…
Aerial-Ground collaborative sensing: Third-Person view for teleoperation
Abel Gawel, Yukai Lin, Théodore Koutros +2
Rapid deployment and operation are key requirements in time critical application, such as Search and Rescue (SaR). Efficiently teleoperated ground robots can support first-responde…
Design of an Autonomous Racecar: Perception, State Estimation and System Integration
Miguel de la Iglesia Valls, Hubertus Franciscus Cornelis Hendrikx, Victor Reijgwart +6
This paper introduces flüela driverless: the first autonomous racecar to win a Formula Student Driverless competition. In this competition, among other challenges, an autonomous ra…
Multi-agent Time-based Decision-making for the Search and Action Problem
Takahiro Miki, Marija Popovic, Abel Gawel +2
Many robotic applications, such as search-and-rescue, require multiple agents to search for and perform actions on targets. However, such missions present several challenges, inclu…
3D Registration of Aerial and Ground Robots for Disaster Response: An Evaluation of Features, Descriptors, and Transformation Estimation
Abel Gawel, Renaud Dubé, Hartmut Surmann +3
Global registration of heterogeneous ground and aerial mapping data is a challenging task. This is especially difficult in disaster response scenarios when we have no prior informa…
X-View: Graph-Based Semantic Multi-View Localization
Abel Gawel, Carlo Del Don, Roland Siegwart +2
Global registration of multi-view robot data is a challenging task. Appearance-based global localization approaches often fail under drastic view-point changes, as representations…
Aerial Picking and Delivery of Magnetic Objects with MAVs
Abel Gawel, Mina Kamel, Tonci Novkovic +5
Autonomous delivery of goods using a MAV is a difficult problem, as it poses high demand on the MAV's control, perception and manipulation capabilities. This problem is especially…