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A Framework for Collaborative Multi-Robot Mapping using Spectral Graph Wavelets


Nov 02, 2022
Lukas Bernreiter, Shehryar Khattak, Lionel Ott, Roland Siegwart, Marco Hutter, Cesar Cadena

* arXiv admin note: text overlap with arXiv:2203.00308 

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SphNet: A Spherical Network for Semantic Pointcloud Segmentation


Oct 24, 2022
Lukas Bernreiter, Lionel Ott, Roland Siegwart, Cesar Cadena


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3D VSG: Long-term Semantic Scene Change Prediction through 3D Variable Scene Graphs


Sep 16, 2022
Samuel Looper, Javier Rodriguez-Puigvert, Roland Siegwart, Cesar Cadena, Lukas Schmid

* 8 pages, 4 figures, code to be released at https://github.com/ethz-asl/3d_vsg 

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Incremental 3D Scene Completion for Safe and Efficient Exploration Mapping and Planning


Aug 17, 2022
Lukas Schmid, Mansoor Nasir Cheema, Victor Reijgwart, Roland Siegwart, Federico Tombari, Cesar Cadena

* 16 pages, 12 figures. Code will be released at https://github.com/ethz-asl/ssc_exploration 

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Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned


Jul 11, 2022
Marco Tranzatto, Mihir Dharmadhikari, Lukas Bernreiter, Marco Camurri, Shehryar Khattak, Frank Mascarich, Patrick Pfreundschuh, David Wisth, Samuel Zimmermann, Mihir Kulkarni, Victor Reijgwart, Benoit Casseau, Timon Homberger, Paolo De Petris, Lionel Ott, Wayne Tubby, Gabriel Waibel, Huan Nguyen, Cesar Cadena, Russell Buchanan, Lorenz Wellhausen, Nikhil Khedekar, Olov Andersson, Lintong Zhang, Takahiro Miki, Tung Dang, Matias Mattamala, Markus Montenegro, Konrad Meyer, Xiangyu Wu, Adrien Briod, Mark Mueller, Maurice Fallon, Roland Siegwart, Marco Hutter, Kostas Alexis


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SCIM: Simultaneous Clustering, Inference, and Mapping for Open-World Semantic Scene Understanding


Jun 21, 2022
Hermann Blum, Marcus G. Müller, Abel Gawel, Roland Siegwart, Cesar Cadena


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Sampling-free obstacle gradients and reactive planning in Neural Radiance Fields (NeRF)


May 03, 2022
Michael Pantic, Cesar Cadena, Roland Siegwart, Lionel Ott

* Accepted to the "Motion Planning with Implicit Neural Representations of Geometry" Workshop at ICRA 2022 

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Descriptellation: Deep Learned Constellation Descriptors for SLAM


Mar 01, 2022
Chunwei Xing, Xinyu Sun, Andrei Cramariuc, Samuel Gull, Jen Jen Chung, Cesar Cadena, Roland Siegwart, Florian Tschopp


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Embodied Active Domain Adaptation for Semantic Segmentation via Informative Path Planning


Mar 01, 2022
René Zurbrügg, Hermann Blum, Cesar Cadena, Roland Siegwart, Lukas Schmid

* 15 pages, 15 figures 

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Collaborative Robot Mapping using Spectral Graph Analysis


Mar 01, 2022
Lukas Bernreiter, Shehryar Khattak, Lionel Ott, Roland Siegwart, Marco Hutter, Cesar Cadena

* Accepted for IEEE International Conference on Robotics and Automation, 2022 

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