BRISK: Binary robust invariant scalable keypoints S Leutenegger and M Chli and RY Siegwart 2011 International conference on computer vision 2548--2555 2011 Ieee brisk DJ Bell and S Leutenegger and K Hammar and L Dong and BJ Nelson Proceedings 2007 IEEE international conference on robotics and automation 1128--1133 2007 IEEE State estimation for legged robots-consistent fusion of leg kinematics and IMU M Bloesch and M Hutter and MA Hoepflinger and S Leutenegger and C Gehring and CD Remy and R Siegwart Robotics 17 17--24 2013 MIT Press multisensorslam New design of the steering mechanism for a mini coaxial helicopter C Bermes and S Leutenegger and S Bouabdallah and D Schafroth and R Siegwart 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems 1236--1241 2008 IEEE Solar airplane conceptual design and performance estimation S Leutenegger and M Jabas and RY Siegwart Journal of Intelligent \& Robotic Systems 61 1 545--561 2011 Springer Netherlands A UAV system for inspection of industrial facilities J Nikolic and M Burri and J Rehder and S Leutenegger and C Huerzeler and R Siegwart 2013 IEEE Aerospace Conference 1--8 2013 IEEE drones The SHERPA project: Smart collaboration between humans and ground-aerial robots for improving rescuing activities in alpine environments L Marconi and C Melchiorri and M Beetz and D Pangercic and R Siegwart and S Leutenegger and R Carloni and S Stramigioli and H Bruyninckx and P Doherty and others 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) 1--4 2012 IEEE Keyframe-based visual--inertial odometry using nonlinear optimization S Leutenegger and S Lynen and M Bosse and R Siegwart and P Furgale The International Journal of Robotics Research 34 3 314--334 2015 SAGE Publications multisensorslam Modeling and decoupling control of the coax micro helicopter P Fankhauser and S Bouabdallah and S Leutenegger and R Siegwart 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems 2223--2228 2011 IEEE A low-cost and fail-safe inertial navigation system for airplanes S Leutenegger and RY Siegwart 2012 IEEE International Conference on Robotics and Automation 612--618 2012 IEEE Aerodynamic Performance and Stability Simulation of DifferentFlying Wing Model Airplane Configurations F Gohl and S Leutenegger 2009 Bachelor Thesis, Swiss Federal Institute of Technology in Zurich Design and control of a spherical omnidirectional blimp M Burri and L Gasser and M K\"ach and M Krebs and S Laube and A Ledergerber and D Meier and R Michaud and L Mosimann and L M\"uri and others 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems 1873--1879 2013 IEEE A synchronized visual-inertial sensor system with FPGA pre-processing for accurate real-time SLAM J Nikolic and J Rehder and M Burri and P Gohl and S Leutenegger and PT Furgale and R Siegwart 2014 IEEE international conference on robotics and automation (ICRA) 431--437 2014 IEEE multisensorslam Ground and aerial robots as an aid to alpine search and rescue: Initial sherpa outcomes L Marconi and S Leutenegger and S Lynen and M Burri and R Naldi and C Melchiorri 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) 1--2 2013 IEEE Modeling and control of a ballbot P Fankhauser and C Gwerder {B.S.} thesis 2010 Eidgen{\"o}ssische Technische Hochschule Z{\"u}rich Explicit model predictive control and l 1-navigation strategies for fixed-wing uav path tracking P Oettershagen and A Melzer and S Leutenegger and K Alexis and R Siegwart 22nd Mediterranean Conference on Control and Automation 1159--1165 2014 IEEE drones Robust state estimation for small unmanned airplanes S Leutenegger and A Melzer and K Alexis and R Siegwart 2014 IEEE Conference on Control Applications (CCA) 1003--1010 2014 IEEE drones Mechanical design and realization of a steering mechanism for a coaxial helicopter S Leutenegger and C Bermes and S Bouabdallah Semester Thesis 2007 Place recognition with event-based cameras and a neural implementation of SeqSLAM M Milford and H Kim and M Mangan and S Leutenegger and T Stone and B Webb and A Davison Innovative Sensing for Robotics: Focus on Neuromorphic Sensors Workshop at IEEE International Conference on Robotics and Automation (ICRA) 2015 eventcameras A solar-powered hand-launchable UAV for low-altitude multi-day continuous flight P Oettershagen and A Melzer and T Mantel and K Rudin and R Lotz and D Siebenmann and S Leutenegger and K Alexis and R Siegwart 2015 IEEE International Conference on Robotics and Automation (ICRA) 3986--3993 2015 IEEE drones Towards visual slam with event-based cameras M Milford and H Kim and S Leutenegger and A Davison The problem of mobile sensors workshop in conjunction with RSS 2015 eventcameras Rapid free-space mapping from a single omnidirectional camera R Lukierski and S Leutenegger and AJ Davison 2015 European Conference on Mobile Robots (ECMR) 1--8 2015 IEEE Unmanned solar airplanes: Design and algorithms for efficient and robust autonomous operation S Leutenegger 2014 ETH Zurich brisk,multisensorslam,drones Pairwise decomposition of image sequences for active multi-view recognition E Johns and S Leutenegger and AJ Davison Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 3813--3822 2016 Simultaneous optical flow and intensity estimation from an event camera P Bardow and AJ Davison and S Leutenegger Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 884--892 2016 eventcameras A primer on the differential calculus of 3d orientations M Bloesch and H Sommer and T Laidlow and M Burri and G Nuetzi and P Fankhauser and D Bellicoso and C Gehring and S Leutenegger and M Hutter and others arXiv preprint arXiv:1606.05285 2016 Deep learning a grasp function for grasping under gripper pose uncertainty E Johns and S Leutenegger and AJ Davison Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on 4461--4468 2016 IEEE Real-time height map fusion using differentiable rendering J Zienkiewicz and A Davison and S Leutenegger 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 4280--4287 2016 IEEE Real-time 3D reconstruction and 6-DoF tracking with an event camera H Kim and S Leutenegger and AJ Davison European Conference on Computer Vision 349--364 2016 Springer, Cham eventcameras Semanticfusion: Dense 3d semantic mapping with convolutional neural networks J McCormac and A Handa and A Davison and S Leutenegger 2017 IEEE International Conference on Robotics and automation (ICRA) 4628--4635 2017 IEEE ElasticFusion: Real-time dense SLAM and light source estimation T Whelan and RF Salas-Moreno and B Glocker and AJ Davison and S Leutenegger The International Journal of Robotics Research 35 14 1697--1716 2016 SAGE Publications Sage UK: London, England elasticfusion Monocular, real-time surface reconstruction using dynamic level of detail J Zienkiewicz and A Tsiotsios and A Davison and S Leutenegger 2016 Fourth International Conference on 3D Vision (3DV) 37--46 2016 IEEE Flying robots S Leutenegger and C H\"urzeler and AK Stowers and K Alexis and MW Achtelik and D Lentink and PY Oh and R Siegwart Springer Handbook of Robotics 623--670 2016 Springer, Cham Design of small hand-launched solar-powered UAVs: From concept study to a multi-day world endurance record flight P Oettershagen and A Melzer and T Mantel and K Rudin and T Stastny and B Wawrzacz and T Hinzmann and S Leutenegger and K Alexis and R Siegwart Journal of Field Robotics 34 7 1352--1377 2017 drones Room layout estimation from rapid omnidirectional exploration R Lukierski and S Leutenegger and AJ Davison 2017 IEEE International Conference on Robotics and Automation (ICRA) 6315--6322 2017 IEEE Monocular visual odometry: Sparse joint optimisation or dense alternation? L Platinsky and AJ Davison and S Leutenegger 2017 IEEE International Conference on Robotics and Automation (ICRA) 5126--5133 2017 IEEE Semantic texture for robust dense tracking J Czarnowski and S Leutenegger and AJ Davison Proceedings of the IEEE International Conference on Computer Vision Workshops 860--868 2017 Dense rgb-d-inertial slam with map deformations T Laidlow and M Bloesch and W Li and S Leutenegger 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 6741--6748 2017 IEEE multisensorslam, denseslam, elasticfusion Scenenet rgb-d: Can 5m synthetic images beat generic imagenet pre-training on indoor segmentation? J McCormac and A Handa and S Leutenegger and AJ Davison Proceedings of the IEEE International Conference on Computer Vision 2678--2687 2017 Design and Comparison of a Steering Mechanism for an Autonomous Coaxial Indoor Helicopter C Bermes and S Leutenegger and S Bouabdallah and R Siegwart Proceedings of The ASME International Symposium on Flexible Automation (ISFA) 2008 ASME Meta-learning for instance-level data association R Clark and J McCormac and S Leutenegger and A Davison Neural Information Processing Systems (NIPS) 1 2017 Efficient octree-based volumetric SLAM supporting signed-distance and occupancy mapping E Vespa and N Nikolov and M Grimm and L Nardi and PH Kelly and S Leutenegger IEEE Robotics and Automation Letters 3 2 1144--1151 2018 IEEE supereight12,denseslam Image Keypoint Detection, Description, and Matching S Leutenegger and others ETH Zurich, Jul 5 1--27 2012 CodeSLAM—learning a compact, optimisable representation for dense visual SLAM M Bloesch and J Czarnowski and R Clark and S Leutenegger and AJ Davison Proceedings of the IEEE conference on computer vision and pattern recognition 2560--2568 2018 ElasticFusion: Dense SLAM Without A Pose Graph T Whelan and S Leutenegger and RF. Salas-Moreno and B Glocker and AJ. Davison Robotics: Science and Systems 2015 elasticfusion Development of a Flapping Wing Mechanism S Bouabdallah and S Leutenegger and R Siegwart Towards an Embodied Semantic Fovea: Semantic 3D scene reconstruction from ego-centric eye-tracker videos M Li and N Songur and P Orlov and S Leutenegger and AA Faisal International Egocentric, Perception, Interaction and Computing (EPIC) Workshop (ECCV’18-EPIC) 2018 InteriorNet: Mega-scale multi-sensor photo-realistic indoor scenes dataset W Li and S Saeedi and J McCormac and R Clark and D Tzoumanikas and Q Ye and Y Huang and R Tang and S Leutenegger British Machine Vision Conference (BMVC) 2018 Fusion++: Volumetric object-level slam J McCormac and R Clark and M Bloesch and A Davison and S Leutenegger 2018 international conference on 3D vision (3DV) 32--41 2018 IEEE objectlevel Learning to solve nonlinear least squares for monocular stereo R Clark and M Bloesch and J Czarnowski and S Leutenegger and AJ Davison Proceedings of the European Conference on Computer Vision (ECCV) 284--299 2018 Ls-net: Learning to solve nonlinear least squares for monocular stereo R Clark and M Bloesch and J Czarnowski and S Leutenegger and AJ Davison Proceedings of the European Conference on Computer Vision (ECCV) 2018 Fully autonomous micro air vehicle flight and landing on a moving target using visual--inertial estimation and model-predictive control D Tzoumanikas and W Li and M Grimm and K Zhang and M Kovac and S Leutenegger Journal of Field Robotics 36 1 49--77 2019 multisensorslam, drones Bioinspired design of a landing system with soft shock absorbers for autonomous aerial robots K Zhang and P Chermprayong and D Tzoumanikas and W Li and M Grimm and M Smentoch and S Leutenegger and M Kovac Journal of Field Robotics 36 1 230--251 2019 drones Mid-fusion: Octree-based object-level multi-instance dynamic slam B Xu and W Li and D Tzoumanikas and M Bloesch and A Davison and S Leutenegger 2019 International Conference on Robotics and Automation (ICRA) 5231--5237 2019 IEEE objectlevel X-section: Cross-section prediction for enhanced RGB-D fusion A Nicastro and R Clark and S Leutenegger Proceedings of the IEEE/CVF International Conference on Computer Vision 1517--1526 2019 Scenecode: Monocular dense semantic reconstruction using learned encoded scene representations S Zhi and M Bloesch and S Leutenegger and AJ Davison Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 11776--11785 2019 KO-Fusion: dense visual SLAM with tightly-coupled kinematic and odometric tracking C Houseago and M Bloesch and S Leutenegger 2019 International Conference on Robotics and Automation (ICRA) 4054--4060 2019 IEEE multisensorslam, denseslam, elasticfusion Event-based vision: A survey G Gallego and T Delbruck and G Orchard and C Bartolozzi and B Taba and A Censi and S Leutenegger and A Davison and J Conradt and K Daniilidis and others arXiv preprint arXiv:1904.08405 2019 eventcameras DeepFusion: real-time dense 3D reconstruction for monocular SLAM using single-view depth and gradient predictions T Laidlow and J Czarnowski and S Leutenegger 2019 International Conference on Robotics and Automation (ICRA) 4068--4074 2019 IEEE Characterizing visual localization and mapping datasets S Saeedi and ED Carvalho and W Li and D Tzoumanikas and S Leutenegger and PH Kelly and AJ Davison 2019 International Conference on Robotics and Automation (ICRA) 6699--6705 2019 IEEE Special Issue on Machine Vision TK Kim and S Zafeiriou and B Glocker and S Leutenegger International Journal of Computer Vision 127 11 1611--1613 2019 Springer US Learning meshes for dense visual SLAM M Bloesch and T Laidlow and R Clark and S Leutenegger and AJ Davison Proceedings of the IEEE/CVF International Conference on Computer Vision 5855--5864 2019 Adaptive-resolution octree-based volumetric SLAM E Vespa and N Funk and PH Kelly and S Leutenegger 2019 International Conference on 3D Vision (3DV) 654--662 2019 IEEE supereight12,denseslam Designing solar airplanes for continuous flight A Noth SPIE Newsroom 2009 Fast frontier-based information-driven autonomous exploration with an MAV A Dai and S Papatheodorou and N Funk and D Tzoumanikas and S Leutenegger 2020 IEEE International Conference on Robotics and Automation (ICRA) 9570--9576 2020 IEEE drones Nonlinear mpc with motor failure identification and recovery for safe and aggressive multicopter flight D Tzoumanikas and Q Yan and S Leutenegger IEEE International Conference on Robotics and Automation (ICRA) 8538--8544 2020 IEEE drones Towards bounding-box free panoptic segmentation U Bonde and PF Alcantarilla and S Leutenegger German Conference on Pattern Recognition (GCPR) 2020 Comparing view-based and map-based semantic labelling in real-time SLAM Z Landgraf and F Falck and M Bloesch and S Leutenegger and AJ Davison IEEE International Conference on Robotics and Automation (ICRA) 6884--6890 2020 IEEE Towards the Probabilistic Fusion of Learned Priors into Standard Pipelines for 3D Reconstruction T Laidlow and J Czarnowski and A Nicastro and R Clark and S Leutenegger IEEE International Conference on Robotics and Automation (ICRA) 7373--7379 2020 IEEE Bundle adjustment on a graph processor J Ortiz and M Pupilli and S Leutenegger and AJ Davison Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2416--2425 2020 Aerial Manipulation Using Hybrid Force and Position NMPC Applied to Aerial Writing D Tzoumanikas and F Graule and Q Yan and D Shah and M Popovic and S Leutenegger Robotics Science and Systems (RSS) 2020 drones OKVIS 2.0 for the FPV Drone Racing VIO Competition 2020 S Leutenegger 2020 multisensorslam Deep Probabilistic Feature-metric Tracking B Xu and AJ Davison and S Leutenegger IEEE Robotics and Automation Letters 6 1 223--230 2021 IEEE Elastic and efficient lidar reconstruction for large-scale exploration tasks Y Wang and N Funk and S Papatheodorou and M Popovic and M Camurri and S Leutenegger and M Fallon IEEE International Conference on Robotics and Automation (ICRA) https://ieeexplore.ieee.org/abstract/document/9561736 2021 Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimation N Merrill and Y Guo and X Zuo and S Leutenegger and X Peng and L Ren and G Huang 2022 https://openaccess.thecvf.com/content/CVPR2022/papers/Merrill_Symmetry_and_Uncertainty-Aware_Object_SLAM_for_6DoF_Object_Pose_Estimation_CVPR_2022_paper.pdf IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) OKVIS2: Realtime Scalable Visual-Inertial SLAM with Loop Closure S Leutenegger arXiv preprint arXiv:2202.09199 https://scholar.google.ch/citations?view_op=view_citation&hl=de&user=SmGQ48gAAAAJ&sortby=pubdate&citation_for_view=SmGQ48gAAAAJ:eMMeJKvmdy0C 2022 BodySLAM: Joint Camera Localisation, Mapping, and Human Motion Tracking D Henning and T Laidlow and S Leutenegger 2022 https://arxiv.org/pdf/2205.02301.pdf vslam, peopletracking European Conference on Computer Vision (ECCV) M Popovic and F Thomas and S Papatheodorou and N Funk and T Vidal-Calleja and S Leutenegger IEEE Robotics and Automation Letters Volumetric Occupancy Mapping With Probabilistic Depth Completion for Robotic Navigation 2021 6 3 5072-5079 10.1109/LRA.2021.3070308 N Funk and J Tarrio and S Papatheodorou and M Popovic and PF. Alcantarilla and S Leutenegger IEEE Robotics and Automation Letters Multi-Resolution 3D Mapping With Explicit Free Space Representation for Fast and Accurate Mobile Robot Motion Planning 2021 6 2 3553-3560 10.1109/LRA.2021.3061989 Visual-Inertial SLAM with Tightly-Coupled Dropout-Tolerant GPS Fusion S Boche and X Zuo and S Schaefer and S Leutenegger 2022 https://arxiv.org/pdf/2208.00709.pdf vslam, sensorfusion International Conference on Intelligent Robots and Systems (IROS) Visual-Inertial Multi-Instance Dynamic SLAM with Object-Level Relocalisation Y Ren and B Xu and CL. Choi and S Leutenegger 2022 https://arxiv.org/pdf/2208.04274.pdf semanticslam, vslam International Conference on Intelligent Robots and Systems (IROS) Learning to Complete Object Shapes for Object-level Mapping in Dynamic Scenes B Xu and A Davison and S Leutenegger 2022 http://arxiv.org/abs/2208.05067.pdf objectlevelslam International Conference on Intelligent Robots and Systems (IROS) Aerial additive manufacturing with multiple autonomous robots K Zhang and P Chermprayong and F Xiao and D Tzoumanikas and B Dams and S Kay and BB Kocer and A Burns and L Orr and C Choi and DD Darekar and W Li and S Hirschmann and V Soana and SA Ngah and S Sareh and A Choubey and L Margheri and VM Pawar and RJ Ball and C Williams and P Shepherd and S Leutenegger and R Stuart-Smith and M Kovac Nature 7928 709--717 2022 Nature Publishing Group UK Y Xue and H Li and S Leutenegger and J St\"uckler Finding Things in the Unknown: Semantic Object-Centric Exploration with an MAV IEEE International Conference on Robotics and Automation (ICRA) London, United Kingdom 2023 May https://arxiv.org/pdf/2302.14569 C Choi and B Xu and S Leutenegger Accurate and Interactive Visual-Inertial Sensor Calibration with Next-Best-View and Next-Best-Trajectory Suggestion IEEE International Conference on Intelligent Robots and Systems (IROS) Detroit, United States 2023 October https://arxiv.org/abs/2309.14514 S Schaefer and D Henning and S Leutenegger {GloPro: Globally-Consistent Uncertainty-Aware 3D Human Pose Estimation & Tracking in the Wild} IEEE International Conference on Intelligent Robots and Systems (IROS) Detroit, United States 2023 October https://arxiv.org/abs/2309.10369 D Henning and C Choi and S Schaefer and S Leutenegger BodySLAM++: Fast and Tightly-Coupled Visual-Inertial Camera and Human Motion Tracking IEEE International Conference on Intelligent Robots and Systems (IROS) Detroit, United States 2023 October https://arxiv.org/abs/2309.01236 Incremental Dense Reconstruction From Monocular Video With Guided Sparse Feature Volume Fusion X Zuo and N Yang and N Merrill and B Xu and S Leutenegger IEEE Robotics and Automation Letters 8 3876--3883 2023 IEEE Orientation-Aware Hierarchical, Adaptive-Resolution A* Algorithm for UAV Trajectory Planning N Funk and J Tarrio and S Papatheodorou and PF Alcantarilla and S Leutenegger IEEE Robotics and Automation Letters 8 6723--6730 2023 IEEE H Chen and D Hidalgo-Carvajal and GC. Bettelani and J Jung and M Zavaglia and L Busse and A Naceri and S Haddadin and S Leutenegger IEEE Robotics and Automation Letters (RA-L) Anthropomorphic Grasping with Neural Object Shape Completion 2023 1-8 IEEE Y Xin and X Zuo and D Lu and S Leutenegger {SimpleMapping: Real-Time Visual-Inertial Dense Mapping with Deep Multi-View Stereo} IEEE International Symposium on Mixed and Augmented Reality (ISMAR) October 2023 https://arxiv.org/pdf/2306.08648.pdf S Boche and S Barbas Laina and S Leutenegger {Tightly-Coupled LiDAR-Visual-Inertial SLAM and Large-Scale Volumetric Occupancy Mapping} IEEE International Conference on Robotics and Automation (ICRA) 2024 S Zhou and S Papatheodorou and S Leutenegger and A Schoellig {Control-Barrier-Aided Teleoperation with Visual-Inertial SLAM for Safe MAV Navigation in Complex Environments} IEEE International Conference on Robotics and Automation (ICRA) 2024 H Chen and B Xu and S Leutenegger {FuncGrasp: Learning Object-Centric Neural Grasp Functions from Single Annotated Example Object} IEEE International Conference on Robotics and Automation (ICRA) 2024 H Chen and B Sun and A Zhang and M Pollefeys and S Leutenegger {VidBot}: Learning Generalizable {3D} Actions from In-the-Wild {2D} Human Videos for Zero-Shot Robotic Manipulation IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2025 B Sun and H Chen and S Leutenegger and C Cadena and M Pollefeys and H Blum IEEE Robotics and Automation Letters (RA-L) FrontierNet: Learning Visual Cues to Explore 2025 1-8 IEEE Texpose: Neural texture learning for self-supervised 6d object pose estimation H Chen and F Manhardt and N Navab and B Busam Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 4841--4852 2023 Actron3D: Learning Actionable Neural Functions from Videos for Transferable Robotic Manipulation A Zhang and H Chen and Y Burkhardt and Y Zhong and J Betz and H Oleynikova and S Leutenegger IEEE International Conference on Robotics and Automation (ICRA) 2026 GOPLA: Generalizable Object Placement Learning via Synthetic Augmentation of Human Arrangement Y Zhong and H Chen and S Schaefer and A Zhang and S Leutenegger IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2026