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@inproceedings{leutenegger2011brisk,
title={BRISK: Binary robust invariant scalable keypoints},
author={Leutenegger, Stefan and Chli, Margarita and Siegwart, Roland Y},
booktitle={2011 International conference on computer vision},
pages={2548--2555},
year={2011},
organization={Ieee},
keywords={brisk}
}
@inproceedings{bell2007flagella,f
title={Flagella-like propulsion for microrobots using a nanocoil and a rotating electromagnetic field},
author={Bell, Dominik J and Leutenegger, Stefan and Hammar, KM and Dong, LX and Nelson, Bradley J},
booktitle={Proceedings 2007 IEEE international conference on robotics and automation},
pages={1128--1133},
year={2007},
organization={IEEE}
}
@article{bloesch2013state,
title={State estimation for legged robots-consistent fusion of leg kinematics and IMU},
author={Bloesch, Michael and Hutter, Marco and Hoepflinger, Mark A and Leutenegger, Stefan and Gehring, Christian and Remy, C David and Siegwart, Roland},
journal={Robotics},
volume={17},
pages={17--24},
year={2013},
publisher={MIT Press},
keywords={multisensorslam}
}
@inproceedings{bermes2008new,
title={New design of the steering mechanism for a mini coaxial helicopter},
author={Bermes, Christian and Leutenegger, Stefan and Bouabdallah, Samir and Schafroth, Dario and Siegwart, Roland},
booktitle={2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
pages={1236--1241},
year={2008},
organization={IEEE}
}
@article{leutenegger2011solar,
title={Solar airplane conceptual design and performance estimation},
author={Leutenegger, Stefan and Jabas, Mathieu and Siegwart, Roland Y},
journal={Journal of Intelligent \& Robotic Systems},
volume={61},
number={1},
pages={545--561},
year={2011},
publisher={Springer Netherlands}
}
@inproceedings{nikolic2013uav,
title={A UAV system for inspection of industrial facilities},
author={Nikolic, Janosch and Burri, Michael and Rehder, Joern and Leutenegger, Stefan and Huerzeler, Christoph and Siegwart, Roland},
booktitle={2013 IEEE Aerospace Conference},
pages={1--8},
year={2013},
organization={IEEE},
keywords={drones}
}
@inproceedings{marconi2012sherpa,
title={The SHERPA project: Smart collaboration between humans and ground-aerial robots for improving rescuing activities in alpine environments},
author={Marconi, Lorenzo and Melchiorri, Claudio and Beetz, Michael and Pangercic, Dejan and Siegwart, Roland and Leutenegger, Stefan and Carloni, Raffaella and Stramigioli, Stefano and Bruyninckx, Herman and Doherty, Patrick and others},
booktitle={2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
pages={1--4},
year={2012},
organization={IEEE}
}
@article{leutenegger2015keyframe,
title={Keyframe-based visual--inertial odometry using nonlinear optimization},
author={Leutenegger, Stefan and Lynen, Simon and Bosse, Michael and Siegwart, Roland and Furgale, Paul},
journal={The International Journal of Robotics Research},
volume={34},
number={3},
pages={314--334},
year={2015},
publisher={SAGE Publications},
keywords={multisensorslam}
}
@inproceedings{fankhauser2011modeling,
title={Modeling and decoupling control of the coax micro helicopter},
author={Fankhauser, P{\'e}ter and Bouabdallah, Samir and Leutenegger, Stefan and Siegwart, Roland},
booktitle={2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
pages={2223--2228},
year={2011},
organization={IEEE}
}
@inproceedings{leutenegger2012low,
title={A low-cost and fail-safe inertial navigation system for airplanes},
author={Leutenegger, Stefan and Siegwart, Roland Y},
booktitle={2012 IEEE International Conference on Robotics and Automation},
pages={612--618},
year={2012},
organization={IEEE}
}
@misc{gohl2009aerodynamic,
title={Aerodynamic Performance and Stability Simulation of DifferentFlying Wing Model Airplane Configurations},
author={Gohl, F and Leutenegger, S},
year={2009},
publisher={Bachelor Thesis, Swiss Federal Institute of Technology in Zurich}
}
@inproceedings{burri2013design,
title={Design and control of a spherical omnidirectional blimp},
author={Burri, Michael and Gasser, L and K{\"a}ch, M and Krebs, M and Laube, S and Ledergerber, A and Meier, Daniel and Michaud, R and Mosimann, Lukas and M{\"u}ri, L and others},
booktitle={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
pages={1873--1879},
year={2013},
organization={IEEE}
}
@inproceedings{nikolic2014synchronized,
title={A synchronized visual-inertial sensor system with FPGA pre-processing for accurate real-time SLAM},
author={Nikolic, Janosch and Rehder, Joern and Burri, Michael and Gohl, Pascal and Leutenegger, Stefan and Furgale, Paul T and Siegwart, Roland},
booktitle={2014 IEEE international conference on robotics and automation (ICRA)},
pages={431--437},
year={2014},
organization={IEEE},
keywords={multisensorslam}
}
@inproceedings{marconi2013ground,
title={Ground and aerial robots as an aid to alpine search and rescue: Initial sherpa outcomes},
author={Marconi, Lorenzo and Leutenegger, Stefan and Lynen, Simon and Burri, Michael and Naldi, Roberto and Melchiorri, Claudio},
booktitle={2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
pages={1--2},
year={2013},
organization={IEEE}
}
@mastersthesis{fankhauser2010modeling,
title={Modeling and control of a ballbot},
author={Fankhauser, Peter and Gwerder, Corsin},
type={{B.S.} thesis},
year={2010},
school={Eidgen{\"o}ssische Technische Hochschule Z{\"u}rich}
}
@inproceedings{oettershagen2014explicit,
title={Explicit model predictive control and l 1-navigation strategies for fixed-wing uav path tracking},
author={Oettershagen, Philipp and Melzer, Amir and Leutenegger, Stefan and Alexis, Kostas and Siegwart, Roland},
booktitle={22nd Mediterranean Conference on Control and Automation},
pages={1159--1165},
year={2014},
organization={IEEE},
keywords={drones}
}
@inproceedings{leutenegger2014robust,
title={Robust state estimation for small unmanned airplanes},
author={Leutenegger, Stefan and Melzer, Amir and Alexis, Kostas and Siegwart, Roland},
booktitle={2014 IEEE Conference on Control Applications (CCA)},
pages={1003--1010},
year={2014},
organization={IEEE},
keywords={drones}
}
@article{leutenegger2007mechanical,
title={Mechanical design and realization of a steering mechanism for a coaxial helicopter},
author={Leutenegger, Stefan and Bermes, Christian and Bouabdallah, Samir},
journal={Semester Thesis},
year={2007}
}
@inproceedings{milford2015place,
title={Place recognition with event-based cameras and a neural implementation of SeqSLAM},
author={Milford, Michael and Kim, Hanme and Mangan, Michael and Leutenegger, Stefan and Stone, Tom and Webb, Barbara and Davison, Andrew},
booktitle={Innovative Sensing for Robotics: Focus on Neuromorphic Sensors Workshop at IEEE International Conference on Robotics and Automation (ICRA)},
year={2015},
keywords={eventcameras}
}
@inproceedings{oettershagen2015solar,
title={A solar-powered hand-launchable UAV for low-altitude multi-day continuous flight},
author={Oettershagen, Philipp and Melzer, Amir and Mantel, Thomas and Rudin, Konrad and Lotz, Rainer and Siebenmann, Dieter and Leutenegger, Stefan and Alexis, Kostas and Siegwart, Roland},
booktitle={2015 IEEE International Conference on Robotics and Automation (ICRA)},
pages={3986--3993},
year={2015},
organization={IEEE},
keywords={drones}
}
@inproceedings{milford2015towards,
title={Towards visual slam with event-based cameras},
author={Milford, Michael and Kim, Hanme and Leutenegger, Stefan and Davison, Andrew},
booktitle={The problem of mobile sensors workshop in conjunction with RSS},
year={2015},
keywords={eventcameras}
}
@inproceedings{lukierski2015rapid,
title={Rapid free-space mapping from a single omnidirectional camera},
author={Lukierski, Robert and Leutenegger, Stefan and Davison, Andrew J},
booktitle={2015 European Conference on Mobile Robots (ECMR)},
pages={1--8},
year={2015},
organization={IEEE}
}
@phdthesis{leutenegger2014unmanned,
title={Unmanned solar airplanes: Design and algorithms for efficient and robust autonomous operation},
author={Leutenegger, Stefan},
year={2014},
school={ETH Zurich},
keywords={brisk,multisensorslam,drones}
}
@inproceedings{johns2016pairwise,
title={Pairwise decomposition of image sequences for active multi-view recognition},
author={Johns, Edward and Leutenegger, Stefan and Davison, Andrew J},
booktitle={Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition},
pages={3813--3822},
year={2016}
}
@inproceedings{bardow2016simultaneous,
title={Simultaneous optical flow and intensity estimation from an event camera},
author={Bardow, Patrick and Davison, Andrew J and Leutenegger, Stefan},
booktitle={Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition},
pages={884--892},
year={2016},
keywords={eventcameras}
}
@article{bloesch2016primer,
title={A primer on the differential calculus of 3d orientations},
author={Bloesch, Michael and Sommer, Hannes and Laidlow, Tristan and Burri, Michael and Nuetzi, Gabriel and Fankhauser, P{\'e}ter and Bellicoso, Dario and Gehring, Christian and Leutenegger, Stefan and Hutter, Marco and others},
journal={arXiv preprint arXiv:1606.05285},
year={2016}
}
@inproceedings{johns2016deep,
title={Deep learning a grasp function for grasping under gripper pose uncertainty},
author={Johns, Edward and Leutenegger, Stefan and Davison, Andrew J},
booktitle={Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on},
pages={4461--4468},
year={2016},
organization={IEEE}
}
@inproceedings{zienkiewicz2016real,
title={Real-time height map fusion using differentiable rendering},
author={Zienkiewicz, Jacek and Davison, Andrew and Leutenegger, Stefan},
booktitle={2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages={4280--4287},
year={2016},
organization={IEEE}
}
@inproceedings{kim2016real,
title={Real-time 3D reconstruction and 6-DoF tracking with an event camera},
author={Kim, Hanme and Leutenegger, Stefan and Davison, Andrew J},
booktitle={European Conference on Computer Vision},
pages={349--364},
year={2016},
organization={Springer, Cham},
keywords={eventcameras}
}
@inproceedings{mccormac2017semanticfusion,
title={Semanticfusion: Dense 3d semantic mapping with convolutional neural networks},
author={McCormac, John and Handa, Ankur and Davison, Andrew and Leutenegger, Stefan},
booktitle={2017 IEEE International Conference on Robotics and automation (ICRA)},
pages={4628--4635},
year={2017},
organization={IEEE}
}
@article{whelan2016elasticfusion,
title={ElasticFusion: Real-time dense SLAM and light source estimation},
author={Whelan, Thomas and Salas-Moreno, Renato F and Glocker, Ben and Davison, Andrew J and Leutenegger, Stefan},
journal={The International Journal of Robotics Research},
volume={35},
number={14},
pages={1697--1716},
year={2016},
publisher={SAGE Publications Sage UK: London, England},
keywords={elasticfusion}
}
@inproceedings{zienkiewicz2016monocular,
title={Monocular, real-time surface reconstruction using dynamic level of detail},
author={Zienkiewicz, Jacek and Tsiotsios, Akis and Davison, Andrew and Leutenegger, Stefan},
booktitle={2016 Fourth International Conference on 3D Vision (3DV)},
pages={37--46},
year={2016},
organization={IEEE}
}
@incollection{leutenegger2016flying,
title={Flying robots},
author={Leutenegger, Stefan and H{\"u}rzeler, Christoph and Stowers, Amanda K and Alexis, Kostas and Achtelik, Markus W and Lentink, David and Oh, Paul Y and Siegwart, Roland},
booktitle={Springer Handbook of Robotics},
pages={623--670},
year={2016},
publisher={Springer, Cham}
}
@article{oettershagen2017design,
title={Design of small hand-launched solar-powered UAVs: From concept study to a multi-day world endurance record flight},
author={Oettershagen, Philipp and Melzer, Amir and Mantel, Thomas and Rudin, Konrad and Stastny, Thomas and Wawrzacz, Bartosz and Hinzmann, Timo and Leutenegger, Stefan and Alexis, Kostas and Siegwart, Roland},
journal={Journal of Field Robotics},
volume={34},
number={7},
pages={1352--1377},
year={2017},
keywords={drones}
}
@inproceedings{lukierski2017room,
title={Room layout estimation from rapid omnidirectional exploration},
author={Lukierski, Robert and Leutenegger, Stefan and Davison, Andrew J},
booktitle={2017 IEEE International Conference on Robotics and Automation (ICRA)},
pages={6315--6322},
year={2017},
organization={IEEE}
}
@inproceedings{platinsky2017monocular,
title={Monocular visual odometry: Sparse joint optimisation or dense alternation?},
author={Platinsky, Lukas and Davison, Andrew J and Leutenegger, Stefan},
booktitle={2017 IEEE International Conference on Robotics and Automation (ICRA)},
pages={5126--5133},
year={2017},
organization={IEEE}
}
@inproceedings{czarnowski2017semantic,
title={Semantic texture for robust dense tracking},
author={Czarnowski, Jan and Leutenegger, Stefan and Davison, Andrew J},
booktitle={Proceedings of the IEEE International Conference on Computer Vision Workshops},
pages={860--868},
year={2017}
}
@inproceedings{laidlow2017dense,
title={Dense rgb-d-inertial slam with map deformations},
author={Laidlow, Tristan and Bloesch, Michael and Li, Wenbin and Leutenegger, Stefan},
booktitle={2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages={6741--6748},
year={2017},
organization={IEEE},
keywords={multisensorslam, denseslam, elasticfusion}
}
@inproceedings{mccormac2017scenenet,
title={Scenenet rgb-d: Can 5m synthetic images beat generic imagenet pre-training on indoor segmentation?},
author={McCormac, John and Handa, Ankur and Leutenegger, Stefan and Davison, Andrew J},
booktitle={Proceedings of the IEEE International Conference on Computer Vision},
pages={2678--2687},
year={2017}
}
@inproceedings{bermes2008design,
title={Design and Comparison of a Steering Mechanism for an Autonomous Coaxial Indoor Helicopter},
author={Bermes, C and Leutenegger, S and Bouabdallah, S and Siegwart, Roland},
booktitle={Proceedings of The ASME International Symposium on Flexible Automation (ISFA)},
year={2008},
organization={ASME}
}
@inproceedings{clark2017meta,
title={Meta-learning for instance-level data association},
author={Clark, Ronald and McCormac, John and Leutenegger, Stefan and Davison, A},
booktitle={Neural Information Processing Systems (NIPS)},
volume={1},
year={2017}
}
@article{vespa2018efficient,
title={Efficient octree-based volumetric SLAM supporting signed-distance and occupancy mapping},
author={Vespa, Emanuele and Nikolov, Nikolay and Grimm, Marius and Nardi, Luigi and Kelly, Paul HJ and Leutenegger, Stefan},
journal={IEEE Robotics and Automation Letters},
volume={3},
number={2},
pages={1144--1151},
year={2018},
publisher={IEEE},
keywords={supereight12,denseslam}
}
@article{leutenegger2012image,
title={Image Keypoint Detection, Description, and Matching},
author={Leutenegger, Stefan and others},
journal={ETH Zurich, Jul},
volume={5},
pages={1--27},
year={2012}
}
@inproceedings{bloesch2018codeslam,
title={CodeSLAM—learning a compact, optimisable representation for dense visual SLAM},
author={Bloesch, Michael and Czarnowski, Jan and Clark, Ronald and Leutenegger, Stefan and Davison, Andrew J},
booktitle={Proceedings of the IEEE conference on computer vision and pattern recognition},
pages={2560--2568},
year={2018}
}
@inproceedings{whelan2015elasticfusion,
title={ElasticFusion: Dense SLAM Without A Pose Graph},
author={Whelan, Thomas and Leutenegger, Stefan and Salas-Moreno, Renato F. and Glocker, Ben and Davison, Andrew J.},
booktitle={Robotics: Science and Systems},
year={2015},
keywords={elasticfusion}
}
@article{bouabdallahdevelopment,
title={Development of a Flapping Wing Mechanism},
author={Bouabdallah, Samir and Leutenegger, Stefan and Siegwart, Roland}
}
@inproceedings{li2018towards,
title={Towards an Embodied Semantic Fovea: Semantic 3D scene reconstruction from ego-centric eye-tracker videos},
author={Li, Mickey and Songur, Noyan and Orlov, Pavel and Leutenegger, Stefan and Faisal, A Aldo},
journal={International Egocentric, Perception, Interaction and Computing (EPIC) Workshop (ECCV’18-EPIC)},
year={2018}
}
@inproceedings{li2018interiornet,
title={InteriorNet: Mega-scale multi-sensor photo-realistic indoor scenes dataset},
author={Li, Wenbin and Saeedi, Sajad and McCormac, John and Clark, Ronald and Tzoumanikas, Dimos and Ye, Qing and Huang, Yuzhong and Tang, Rui and Leutenegger, Stefan},
journal={British Machine Vision Conference (BMVC)},
year={2018}
}
@inproceedings{mccormac2018fusion++,
title={Fusion++: Volumetric object-level slam},
author={McCormac, John and Clark, Ronald and Bloesch, Michael and Davison, Andrew and Leutenegger, Stefan},
booktitle={2018 international conference on 3D vision (3DV)},
pages={32--41},
year={2018},
organization={IEEE},
keywords={objectlevel}
}
@inproceedings{clark2018learning,
title={Learning to solve nonlinear least squares for monocular stereo},
author={Clark, Ronald and Bloesch, Michael and Czarnowski, Jan and Leutenegger, Stefan and Davison, Andrew J},
booktitle={Proceedings of the European Conference on Computer Vision (ECCV)},
pages={284--299},
year={2018}
}
@inproceedings{clark2018ls,
title={Ls-net: Learning to solve nonlinear least squares for monocular stereo},
author={Clark, Ronald and Bloesch, Michael and Czarnowski, Jan and Leutenegger, Stefan and Davison, Andrew J},
journal={Proceedings of the European Conference on Computer Vision (ECCV)},
year={2018}
}
@article{tzoumanikas2019fully,
title={Fully autonomous micro air vehicle flight and landing on a moving target using visual--inertial estimation and model-predictive control},
author={Tzoumanikas, Dimos and Li, Wenbin and Grimm, Marius and Zhang, Ketao and Kovac, Mirko and Leutenegger, Stefan},
journal={Journal of Field Robotics},
volume={36},
number={1},
pages={49--77},
year={2019},
keywords={multisensorslam, drones}
}
@article{zhang2019bioinspired,
title={Bioinspired design of a landing system with soft shock absorbers for autonomous aerial robots},
author={Zhang, Ketao and Chermprayong, Pisak and Tzoumanikas, Dimos and Li, Wenbin and Grimm, Marius and Smentoch, Mariusz and Leutenegger, Stefan and Kovac, Mirko},
journal={Journal of Field Robotics},
volume={36},
number={1},
pages={230--251},
year={2019},
keywords={drones}
}
@inproceedings{xu2019mid,
title={Mid-fusion: Octree-based object-level multi-instance dynamic slam},
author={Xu, Binbin and Li, Wenbin and Tzoumanikas, Dimos and Bloesch, Michael and Davison, Andrew and Leutenegger, Stefan},
booktitle={2019 International Conference on Robotics and Automation (ICRA)},
pages={5231--5237},
year={2019},
organization={IEEE},
keywords={objectlevel}
}
@inproceedings{nicastro2019x,
title={X-section: Cross-section prediction for enhanced RGB-D fusion},
author={Nicastro, Andrea and Clark, Ronald and Leutenegger, Stefan},
booktitle={Proceedings of the IEEE/CVF International Conference on Computer Vision},
pages={1517--1526},
year={2019}
}
@inproceedings{zhi2019scenecode,
title={Scenecode: Monocular dense semantic reconstruction using learned encoded scene representations},
author={Zhi, Shuaifeng and Bloesch, Michael and Leutenegger, Stefan and Davison, Andrew J},
booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
pages={11776--11785},
year={2019}
}
@inproceedings{houseago2019ko,
title={KO-Fusion: dense visual SLAM with tightly-coupled kinematic and odometric tracking},
author={Houseago, Charlie and Bloesch, Michael and Leutenegger, Stefan},
booktitle={2019 International Conference on Robotics and Automation (ICRA)},
pages={4054--4060},
year={2019},
organization={IEEE},
keywords={multisensorslam, denseslam, elasticfusion}
}
@article{gallego2019event,
title={Event-based vision: A survey},
author={Gallego, Guillermo and Delbruck, Tobi and Orchard, Garrick and Bartolozzi, Chiara and Taba, Brian and Censi, Andrea and Leutenegger, Stefan and Davison, Andrew and Conradt, J{\"o}rg and Daniilidis, Kostas and others},
journal={arXiv preprint arXiv:1904.08405},
year={2019},
keywords={eventcameras}
}
@inproceedings{laidlow2019deepfusion,
title={DeepFusion: real-time dense 3D reconstruction for monocular SLAM using single-view depth and gradient predictions},
author={Laidlow, Tristan and Czarnowski, Jan and Leutenegger, Stefan},
booktitle={2019 International Conference on Robotics and Automation (ICRA)},
pages={4068--4074},
year={2019},
organization={IEEE}
}
@inproceedings{saeedi2019characterizing,
title={Characterizing visual localization and mapping datasets},
author={Saeedi, Sajad and Carvalho, Eduardo DC and Li, Wenbin and Tzoumanikas, Dimos and Leutenegger, Stefan and Kelly, Paul HJ and Davison, Andrew J},
booktitle={2019 International Conference on Robotics and Automation (ICRA)},
pages={6699--6705},
year={2019},
organization={IEEE}
}
@article{kim2019special,
title={Special Issue on Machine Vision},
author={Kim, Tae-Kyun and Zafeiriou, Stefanos and Glocker, Ben and Leutenegger, Stefan},
journal={International Journal of Computer Vision},
volume={127},
number={11},
pages={1611--1613},
year={2019},
publisher={Springer US}
}
@inproceedings{bloesch2019learning,
title={Learning meshes for dense visual SLAM},
author={Bloesch, Michael and Laidlow, Tristan and Clark, Ronald and Leutenegger, Stefan and Davison, Andrew J},
booktitle={Proceedings of the IEEE/CVF International Conference on Computer Vision},
pages={5855--5864},
year={2019}
}
@inproceedings{vespa2019adaptive,
title={Adaptive-resolution octree-based volumetric SLAM},
author={Vespa, Emanuele and Funk, Nils and Kelly, Paul HJ and Leutenegger, Stefan},
booktitle={2019 International Conference on 3D Vision (3DV)},
pages={654--662},
year={2019},
organization={IEEE},
keywords={supereight12,denseslam}
}
@article{noth2009designing,
title={Designing solar airplanes for continuous flight},
author={Noth, Andr{\'e}},
journal={SPIE Newsroom},
year={2009}
}
@inproceedings{dai2020fast,
title={Fast frontier-based information-driven autonomous exploration with an MAV},
author={Dai, Anna and Papatheodorou, Sotiris and Funk, Nils and Tzoumanikas, Dimos and Leutenegger, Stefan},
booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)},
pages={9570--9576},
year={2020},
organization={IEEE},
keywords={drones}
}
@inproceedings{tzoumanikas2020nonlinear,
title={Nonlinear mpc with motor failure identification and recovery for safe and aggressive multicopter flight},
author={Tzoumanikas, Dimos and Yan, Qingyue and Leutenegger, Stefan},
booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
pages={8538--8544},
year={2020},
organization={IEEE},
keywords={drones}
}
@inproceedings{bonde2020towards,
title={Towards bounding-box free panoptic segmentation},
author={Bonde, Ujwal and Alcantarilla, Pablo F and Leutenegger, Stefan},
booktitle={German Conference on Pattern Recognition (GCPR)},
year={2020}
}
@inproceedings{landgraf2020comparing,
title={Comparing view-based and map-based semantic labelling in real-time SLAM},
author={Landgraf, Zoe and Falck, Fabian and Bloesch, Michael and Leutenegger, Stefan and Davison, Andrew J},
booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
pages={6884--6890},
year={2020},
organization={IEEE}
}
@inproceedings{laidlow2020towards,
title={Towards the Probabilistic Fusion of Learned Priors into Standard Pipelines for 3D Reconstruction},
author={Laidlow, Tristan and Czarnowski, Jan and Nicastro, Andrea and Clark, Ronald and Leutenegger, Stefan},
booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
pages={7373--7379},
year={2020},
organization={IEEE}
}
@inproceedings{ortiz2020bundle,
title={Bundle adjustment on a graph processor},
author={Ortiz, Joseph and Pupilli, Mark and Leutenegger, Stefan and Davison, Andrew J},
booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
pages={2416--2425},
year={2020}
}
@inproceedings{tzoumanikas2020aerial,
title={Aerial Manipulation Using Hybrid Force and Position NMPC Applied to Aerial Writing},
author={Tzoumanikas, Dimos and Graule, Felix and Yan, Qingyue and Shah, Dhruv and Popovic, Marija and Leutenegger, Stefan},
journal={Robotics Science and Systems (RSS)},
year={2020},
keywords={drones}
}
@misc{leutenegger2020okvis,
title={OKVIS 2.0 for the FPV Drone Racing VIO Competition 2020},
author={Leutenegger, Stefan},
year={2020},
keywords={multisensorslam}
}
@article{xu2021deep,
title={Deep Probabilistic Feature-metric Tracking},
author={Xu, Binbin and Davison, Andrew J and Leutenegger, Stefan},
journal={IEEE Robotics and Automation Letters},
volume={6},
number={1},
pages={223--230},
year={2021},
publisher={IEEE}
}
@article{wang2020elastic,
title={Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks},
author={Wang, Yiduo and Funk, Nils and Ramezani, Milad and Papatheodorou, Sotiris and Popovic, Marija and Camurri, Marco and Leutenegger, Stefan and Fallon, Maurice},
journal={arXiv preprint arXiv:2010.09232},
year={2020},
keywords={supereight3}
}
@inproceedings{wang2020elastic,
title={Elastic and efficient lidar reconstruction for large-scale exploration tasks},
author={Wang, Yiduo and Funk, Nils and Papatheodorou, Sotiris and Popovic, Marjia and Camurri, Marco and Leutenegger, Stefan and Fallon, Maurice},
booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
pdf={https://ieeexplore.ieee.org/abstract/document/9561736},
year={2021}
}
@inproceedings{merrill2022symmetry,
title={Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimation},
author={Merrill, Nathaniel and Guo, Yuliang and Zuo, Xingxing and Leutenegger, Stefan and Peng, Xi and Ren, Liu and Huang, Guoquan},
year={2022},
pdf={https://openaccess.thecvf.com/content/CVPR2022/papers/Merrill_Symmetry_and_Uncertainty-Aware_Object_SLAM_for_6DoF_Object_Pose_Estimation_CVPR_2022_paper.pdf},
booktitle={IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)}
}
@article{leutenegger2022okvis,
title={OKVIS2: Realtime Scalable Visual-Inertial SLAM with Loop Closure},
author={Leutenegger, Stefan},
journal={arXiv preprint arXiv:2202.09199},
pdf={https://scholar.google.ch/citations?view_op=view_citation&hl=de&user=SmGQ48gAAAAJ&sortby=pubdate&citation_for_view=SmGQ48gAAAAJ:eMMeJKvmdy0C},
year={2022}
}
@inproceedings{henning2022bodyslam,
title={BodySLAM: Joint Camera Localisation, Mapping, and Human Motion Tracking},
author={Henning, Dorian and Laidlow, Tristan and Leutenegger, Stefan},
year={2022},
pdf={https://arxiv.org/pdf/2205.02301.pdf},
keywords={vslam, peopletracking},
booktitle={European Conference on Computer Vision (ECCV)},
note = {{<a href="https://youtu.be/0-SL3VeWEvU" target="_blank">[video]</a><a href="https://mlr.in.tum.de/research/projects/bodyslam" target="_blank">[project page]</a>}},
}
@ARTICLE{popovic2021volumetric,
author={Popović, Marija and Thomas, Florian and Papatheodorou, Sotiris and Funk, Nils and Vidal-Calleja, Teresa and Leutenegger, Stefan},
journal={IEEE Robotics and Automation Letters},
title={Volumetric Occupancy Mapping With Probabilistic Depth Completion for Robotic Navigation},
year={2021},
volume={6},
number={3},
pages={5072-5079},
doi={10.1109/LRA.2021.3070308}
}
@ARTICLE{funk2021multi,
author={Funk, Nils and Tarrio, Juan and Papatheodorou, Sotiris and Popović, Marija and Alcantarilla, Pablo F. and Leutenegger, Stefan},
journal={IEEE Robotics and Automation Letters},
title={Multi-Resolution 3D Mapping With Explicit Free Space Representation for Fast and Accurate Mobile Robot Motion Planning},
year={2021},
volume={6},
number={2},
pages={3553-3560},
doi={10.1109/LRA.2021.3061989}
}
@inproceedings{boche2022gpsokvis2,
title={Visual-Inertial SLAM with Tightly-Coupled Dropout-Tolerant GPS Fusion},
author={Boche, Simon and Zuo, Xingxing and Schaefer, Simon and Leutenegger, Stefan},
year={2022},
pdf={https://arxiv.org/pdf/2208.00709.pdf},
keywords={vslam, sensorfusion},
booktitle={International Conference on Intelligent Robots and Systems (IROS)},
note = {{<a href="https://mlr.in.tum.de/research/projects/gpsokvis2" target="_blank">[project page]</a>}},
}
@inproceedings{ren2020vimid,
title={Visual-Inertial Multi-Instance Dynamic SLAM with Object-Level Relocalisation},
author={Ren, Yifei and Xu, Binbin and Choi, Christopher L. and Leutenegger, Stefan},
year={2022},
pdf={https://arxiv.org/pdf/2208.04274.pdf},
keywords={semanticslam, vslam},
booktitle={International Conference on Intelligent Robots and Systems (IROS)},
note = {{<a href="https://youtu.be/6GY5cBwvuJE" target="_blank">[video]</a><a href="https://mlr.in.tum.de/research/projects/vimid" target="_blank">[project page]</a>}}
},
@inproceedings{xu2022cosom,
title={Learning to Complete Object Shapes for Object-level Mapping in Dynamic Scenes},
author={Xu, Binbin and Davison, Andrew and Leutenegger, Stefan},
year={2022},
pdf={http://arxiv.org/abs/2208.05067.pdf},
keywords={objectlevelslam},
booktitle={International Conference on Intelligent Robots and Systems (IROS)},
note = {{<a href="https://youtu.be/mH22H7jp1D8" target="_blank">[video]</a><a href="https://mlr.in.tum.de/research/projects/cosom" target="_blank">[project page]</a>}}
},
@article{nature2022,
title={Aerial additive manufacturing with multiple autonomous robots},
author={Ketao Zhang and Pisak Chermprayong and Feng Xiao and Dimos Tzoumanikas and Barrie Dams and Sebastian Kay and Basaran Bahadir Kocer and Alec Burns and Lachlan Orr and Christopher Choi and Durgesh Dattatray Darekar and Wenbin Li and Steven Hirschmann and Valentina Soana and Shamsiah Awang Ngah and Sina Sareh and Ashutosh Choubey and Laura Margheri and Vijay M Pawar and Richard J Ball and Chris Williams and Paul Shepherd and Stefan Leutenegger and Robert Stuart-Smith and Mirko Kovac},
journal={Nature},
volume={7928},
pages={709--717},
year={2022},
publisher={Nature Publishing Group UK},
keywords={}
},
@InProceedings{xue2022bmvc,
author = "Yuxuan Xue and Haolong Li and Stefan Leutenegger and Jörg Stückler", title = "Event-based Non-Rigid Reconstruction from Contours", booktitle = "British Machine Vision Conference (BMVC)", address = "London, United Kingdom, year = "2022", month = "October", pdf = "https://arxiv.org/pdf/2210.06270.pdf",
},
@InProceedings{papatheodorou2023icra,
author = "Sotiris Papatheodorou and Nils Funk and Dimos Tzoumanikas and Christopher Choi and Binbin Xu and Stefan Leutenegger",
title = "Finding Things in the Unknown: Semantic Object-Centric Exploration with an MAV",
booktitle = "IEEE International Conference on Robotics and Automation (ICRA)",
address = "London, United Kingdom",
year = "2023",
month = "May",
pdf = "https://arxiv.org/pdf/2302.14569",
note = {{<a href="https://youtu.be/z0LVe_8SATU" target="_blank">[video]</a>}}
},
@InProceedings{penzkofer2023,
author = "Anna Penzkofer and Simon Schaefer and Florian Strohm and Mihai Bâce and Stefan Leutenegger and Andreas Bulling", title = "Int-HRL: Towards Intention-based Hierarchical Reinforcement Learning", booktitle = "International Conference on Autonomous Agents and Multiagent Systems (AMASS) - Adaptive and Learning Agents Workshop", address = "London, United Kingdom, year = "2023", month = "May", pdf = "https://arxiv.org/abs/2306.11483",
},
@InProceedings{xin2023ismar,
author = "Yingye Xin and Xingxing Zuo and Dongyue Lu and Stefan Leutenegger", title = "SimpleMapping: Real-Time Visual-Inertial Dense Mapping with Deep Multi-View Stereo", booktitle = "IEEE International Symposium on Mixed and Augmented Reality (ISMAR)", address = "Sydney, Australia", year = "2023", month = "October", pdf = "https://arxiv.org/pdf/2306.08648.pdf",
},
@InProceedings{choi2023iros,
author = "Christopher Choi and Binbin Xu and Stefan Leutenegger",
title = "Accurate and Interactive Visual-Inertial Sensor Calibration with Next-Best-View and Next-Best-Trajectory Suggestion",
booktitle = "IEEE International Conference on Intelligent Robots and Systems (IROS)",
address = "Detroit, United States",
year = "2023",
month = "October",
pdf = "https://arxiv.org/abs/2309.14514",
note = {{<a href="https://youtu.be/2vaas9NYlOk?si=zgCxO22wJSCaKphz" target="_blank">[video]</a>}}
},
@inproceedings{schaefer2023iros,
author = {Simon Schaefer and Dorian Henning and Stefan Leutenegger},
title = {{GloPro: Globally-Consistent Uncertainty-Aware 3D Human Pose Estimation & Tracking in the Wild}},
booktitle = {IEEE International Conference on Intelligent Robots and Systems (IROS)},
address = {Detroit, United States},
year = {2023},
month = {October},
pdf = {https://arxiv.org/abs/2309.10369},
note = {{<a href="https://youtu.be/4oazpyXg-s4?si=FQ3-0Gvd9Fbq3pcK" target="_blank">[video]</a><a href="https://simon-schaefer.github.io/glopro" target="_blank">[project page]</a>}}
},
@InProceedings{henning2023iros,
author = "Dorian Henning and Christopher Choi and Simon Schaefer and Stefan Leutenegger",
title = "BodySLAM++: Fast and Tightly-Coupled Visual-Inertial Camera and Human Motion Tracking",
booktitle = "IEEE International Conference on Intelligent Robots and Systems (IROS)",
address = "Detroit, United States",
year = "2023",
month = "October",
pdf = "https://arxiv.org/abs/2309.01236",
note = {{<a href="https://youtu.be/UcutiHQwbGk?si=pxlt1mVxKHUhAluw" target="_blank">[video]</a>}}
},
@article{zuo2023ral,
title={Incremental Dense Reconstruction From Monocular Video With Guided Sparse Feature Volume Fusion},
author={Xingxing Zuo and Nan Yang and Nathaniel Merrill and Binbin Xu and Stefan Leutenegger},
journal={IEEE Robotics and Automation Letters},
volume={8},
pages={3876--3883},
year={2023},
publisher={IEEE},
keywords={}
},
@article{funk2023ral,
title={Orientation-Aware Hierarchical, Adaptive-Resolution A* Algorithm for UAV Trajectory Planning},
author={Nils Funk and Juan Tarrio and Sotiris Papatheodorou and Pablo F Alcantarilla and Stefan Leutenegger},
journal={IEEE Robotics and Automation Letters},
volume={8},
pages={6723--6730},
year={2023},
publisher={IEEE},
keywords={}
},
@article{chen2023ral,
author={Chen, Hanzhi and Hidalgo-Carvajal, Diego and Bettelani, Gemma C. and Jung, Jaesug and Zavaglia, Melissa and Busse, Laura and Naceri, Abdeldjallil and Haddadin, Sami and Leutenegger, Stefan},
journal={IEEE Robotics and Automation Letters},
title={Anthropomorphic Grasping with Neural Object Shape Completion},
year={2023},
volume={},
number={},
pages={1-8},
publisher={IEEE},
},
@inproceedings{Xin2023ISMAR,
author={Xin, Yingye and Zuo, Xingxing and Lu, Dongyue and Leutenegger, Stefan},
title={{SimpleMapping: Real-Time Visual-Inertial Dense Mapping with Deep Multi-View Stereo}},
booktitle={IEEE International Symposium on Mixed and Augmented Reality (ISMAR)},
month={October},
year={2023},
pdf = "https://arxiv.org/pdf/2306.08648.pdf",
note = {{<a href="https://www.youtube.com/watch?v=F6UanutWwp0&ab_channel=SmartRoboticsLab" target="_blank">[video]</a><a href="https://yingyexin.github.io/simplemapping.html" target="_blank">[project page]</a>}}
},
@inproceedings{Boche2024ICRA,
author={Boche, Simon and Barbas Laina, Sebastian and Leutenegger, Stefan},
title={{Tightly-Coupled LiDAR-Visual-Inertial SLAM and Large-Scale Volumetric Occupancy Mapping}},
booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
year={2024},
},
@inproceedings{Zhou2024ICRA,
author={Zhou, Siqi and Papatheodorou, Sotiris and Leutenegger, Stefan and Schoellig, Angela},
title={{Control-Barrier-Aided Teleoperation with Visual-Inertial SLAM for Safe MAV Navigation in Complex Environments}},
booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
year={2024},
},
@inproceedings{Chen2024ICRA,
author={Chen, Hanzhi and Xu, Binbin and Leutenegger, Stefan},
title={{FuncGrasp: Learning Object-Centric Neural Grasp Functions from Single Annotated Example Object}},
booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
year={2024},
},
