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Continual Learning of Semantic Segmentation using Complementary 2D-3D Data Representations


Nov 03, 2021
Jonas Frey, Hermann Blum, Francesco Milano, Roland Siegwart, Cesar Cadena

* Under Review for International Conference on Robotics and Automation (ICRA2022) 

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NeuralBlox: Real-Time Neural Representation Fusion for Robust Volumetric Mapping


Oct 18, 2021
Stefan Lionar, Lukas Schmid, Cesar Cadena, Roland Siegwart, Andrei Cramariuc

* 3DV 2021. Equal contribution between the first two authors. Code: https://github.com/ethz-asl/neuralblox 

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See Yourself in Others: Attending Multiple Tasks for Own Failure Detection


Oct 06, 2021
Boyang Sun, Jiaxu Xing, Hermann Blum, Roland Siegwart, Cesar Cadena


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Panoptic Multi-TSDFs: a Flexible Representation for Online Multi-resolution Volumetric Mapping and Long-term Dynamic Scene Consistency


Sep 21, 2021
Lukas Schmid, Jeffrey Delmerico, Johannes Schönberger, Juan Nieto, Marc Pollefeys, Roland Siegwart, Cesar Cadena

* 8 pages, 10 pages, code will be made available upon publication 

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Superquadric Object Representation for Optimization-based Semantic SLAM


Sep 20, 2021
Florian Tschopp, Juan Nieto, Roland Siegwart, Cesar Cadena


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Self-Improving Semantic Perception on a Construction Robot


May 04, 2021
Hermann Blum, Francesco Milano, RenĂ© ZurbrĂŒgg, Roland Siegward, Cesar Cadena, Abel Gawel


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Spherical Multi-Modal Place Recognition for Heterogeneous Sensor Systems


Apr 17, 2021
Lukas Bernreiter, Lionel Ott, Juan Nieto, Roland Siegwart, Cesar Cadena

* Accepted for IEEE International Conference on Robotics and Automation, 2021 

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CalQNet -- Detection of Calibration Quality for Life-Long Stereo Camera Setups


Apr 10, 2021
Jiapeng Zhong, Zheyu Ye, Andrei Cramariuc, Florian Tschopp, Jen Jen Chung, Roland Siegwart, Cesar Cadena


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Pixel-wise Anomaly Detection in Complex Driving Scenes


Mar 09, 2021
Giancarlo Di Biase, Hermann Blum, Roland Siegwart, Cesar Cadena


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Mesh Manifold based Riemannian Motion Planning for Omnidirectional Micro Aerial Vehicles


Feb 20, 2021
Michael Pantic, Lionel Ott, Cesar Cadena, Roland Siegwart, Juan Nieto

* Accepted to RA-L 2021. Video available at https://youtu.be/S9gRr_ryREo 

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PHASER: a Robust and Correspondence-free Global Pointcloud Registration


Feb 03, 2021
Lukas Bernreiter, Lionel Ott, Juan Nieto, Roland Siegwart, Cesar Cadena

* IEEE Robotics and Automation Letters ( Volume: 6, Issue: 2, April 2021) 

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Multiple Hypothesis Semantic Mapping for Robust Data Association


Dec 08, 2020
Lukas Bernreiter, Abel Gawel, Hannes Sommer, Juan Nieto, Roland Siegwart, Cesar Cadena

* IEEE Robotics and Automation Letters ( Volume: 4, Issue: 4, Oct. 2019) 

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Quantifying Aleatoric and Epistemic Uncertainty Using Density Estimation in Latent Space


Dec 05, 2020
Janis Postels, Hermann Blum, Cesar Cadena, Roland Siegwart, Luc Van Gool, Federico Tombari


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Learning Trajectories for Visual-Inertial System Calibration via Model-based Heuristic Deep Reinforcement Learning


Nov 04, 2020
Le Chen, Yunke Ao, Florian Tschopp, Andrei Cramariuc, Michel Breyer, Jen Jen Chung, Roland Siegwart, Cesar Cadena


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Out-of-Distribution Detection for Automotive Perception


Nov 03, 2020
Julia Nitsch, Masha Itkina, Ransalu Senanayake, Juan Nieto, Max Schmidt, Roland Siegwart, Mykel J. Kochenderfer, Cesar Cadena

* 7 pages, 7 figures 

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Freetures: Localization in Signed Distance Function Maps


Oct 21, 2020
Alexander Millane, Helen Oleynikova, Christian Lanegger, Jeff Delmerico, Juan Nieto, Roland Siegwart, Marc Pollefeys, Cesar Cadena


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A Unified Approach for Autonomous Volumetric Exploration of Large Scale Environments under Severe Odometry Drift


Oct 19, 2020
Lukas Schmid, Victor Reijgwart, Lionel Ott, Juan Nieto, Roland Siegwart, Cesar Cadena


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Freetures:Localization in Signed Distance Function Maps


Oct 19, 2020
Alexander Millane, Helen Oleynikova, Christian Lanegger, Jeff Delmerico, Juan Nieto, Roland Siegwart, Marc Pollefeys, Cesar Cadena


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Empty Cities: a Dynamic-Object-Invariant Space for Visual SLAM


Oct 15, 2020
Berta Bescos, Cesar Cadena, Jose Neira


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Deep Learning-based Human Detection for UAVs with Optical and Infrared Cameras: System and Experiments


Aug 10, 2020
Timo Hinzmann, Tobias Stegemann, Cesar Cadena, Roland Siegwart

* Initial submission; 21 pages, 16 figures, 6 tables 

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Precise Robot Localization in Architectural 3D Plans


Jun 09, 2020
Hermann Blum, Julian Stiefel, Cesar Cadena, Roland Siegwart, Abel Gawel


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Learning Camera Miscalibration Detection


May 24, 2020
Andrei Cramariuc, Aleksandar Petrov, Rohit Suri, Mayank Mittal, Roland Siegwart, Cesar Cadena

* ICRA 2020 

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Voxgraph: Globally Consistent, Volumetric Mapping using Signed Distance Function Submaps


Apr 27, 2020
Victor Reijgwart, Alexander Millane, Helen Oleynikova, Roland Siegwart, Cesar Cadena, Juan Nieto

* IEEE Robotics and Automation Letters 5.1 (2019): 227-234 
* 8 pages, 9 figures 

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MOZARD: Multi-Modal Localization for Autonomous Vehicles in Urban Outdoor Environments


Mar 03, 2020
Lukas Schaupp, Patrick Pfreundschuh, Mathias Buerki, Cesar Cadena, Roland Siegwart, Juan Nieto


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3D Gated Recurrent Fusion for Semantic Scene Completion


Feb 17, 2020
Yu Liu, Jie Li, Qingsen Yan, Xia Yuan, Chunxia Zhao, Ian Reid, Cesar Cadena

* 13 pages 

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Depth Based Semantic Scene Completion with Position Importance Aware Loss


Jan 30, 2020
Yu Liu, Jie Li, Xia Yuan, Chunxia Zhao, Roland Siegwart, Ian Reid, Cesar Cadena

* ICRA2020 In Conjuction With RAL 

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VersaVIS: An Open Versatile Multi-Camera Visual-Inertial Sensor Suite


Dec 05, 2019
Florian Tschopp, Michael Riner, Marius Fehr, Lukas Bernreiter, Fadri Furrer, Tonci Novkovic, Andreas Pfrunder, Cesar Cadena, Roland Siegwart, Juan Nieto


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Predicting Unobserved Space For Planning via Depth Map Augmentation


Nov 13, 2019
Marius Fehr, Tim Taubner, Yang Liu, Roland Siegwart, Cesar Cadena


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SegMap: Segment-based mapping and localization using data-driven descriptors


Sep 27, 2019
Renaud Dubé, Andrei Cramariuc, Daniel Dugas, Hannes Sommer, Marcin Dymczyk, Juan Nieto, Roland Siegwart, Cesar Cadena

* arXiv admin note: substantial text overlap with arXiv:1804.09557 

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This is not what I imagined: Error Detection for Semantic Segmentation through Visual Dissimilarity


Sep 02, 2019
David Haldimann, Hermann Blum, Roland Siegwart, Cesar Cadena


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