209 citations · 532 across the 21 of their papers we have counts for
31 papers · 1 filter
A Framework for Collaborative Multi-Robot Mapping using Spectral Graph Wavelets
Lukas Bernreiter, Shehryar Khattak, Lionel Ott +3
The exploration of large-scale unknown environments can benefit from the deployment of multiple robots for collaborative mapping. Each robot explores a section of the environment a…
SphNet: A Spherical Network for Semantic Pointcloud Segmentation
Lukas Bernreiter, Lionel Ott, Roland Siegwart +1
Semantic segmentation for robotic systems can enable a wide range of applications, from self-driving cars and augmented reality systems to domestic robots. We argue that a spherica…
SC-Explorer: Incremental 3D Scene Completion for Safe and Efficient Exploration Mapping and Planning
Lukas Schmid, Mansoor Nasir Cheema, Victor Reijgwart +3
Exploration of unknown environments is a fundamental problem in robotics and an essential component in numerous applications of autonomous systems. A major challenge in exploring u…
Sampling-free obstacle gradients and reactive planning in Neural Radiance Fields (NeRF)
Michael Pantic, Cesar Cadena, Roland Siegwart +1
This work investigates the use of Neural implicit representations, specifically Neural Radiance Fields (NeRF), for geometrical queries and motion planning. We show that by adding t…
Collaborative Robot Mapping using Spectral Graph Analysis
Lukas Bernreiter, Shehryar Khattak, Lionel Ott +3
In this paper, we deal with the problem of creating globally consistent pose graphs in a centralized multi-robot SLAM framework. For each robot to act autonomously, individual onbo…
CalQNet -- Detection of Calibration Quality for Life-Long Stereo Camera Setups
Jiapeng Zhong, Zheyu Ye, Andrei Cramariuc +4
Many mobile robotic platforms rely on an accurate knowledge of the extrinsic calibration parameters, especially systems performing visual stereo matching. Although a number of accu…