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Spatial Computing and Intuitive Interaction: Bringing Mixed Reality and Robotics Together


Feb 03, 2022
Jeffrey Delmerico, Roi Poranne, Federica Bogo, Helen Oleynikova, Eric Vollenweider, Stelian Coros, Juan Nieto, Marc Pollefeys


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CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge


Jan 18, 2022
Marco Tranzatto, Frank Mascarich, Lukas Bernreiter, Carolina Godinho, Marco Camurri, Shehryar Khattak, Tung Dang, Victor Reijgwart, Johannes Loeje, David Wisth, Samuel Zimmermann, Huan Nguyen, Marius Fehr, Lukas Solanka, Russell Buchanan, Marko Bjelonic, Nikhil Khedekar, Mathieu Valceschini, Fabian Jenelten, Mihir Dharmadhikari, Timon Homberger, Paolo De Petris, Lorenz Wellhausen, Mihir Kulkarni, Takahiro Miki, Satchel Hirsch, Markus Montenegro, Christos Papachristos, Fabian Tresoldi, Jan Carius, Giorgio Valsecchi, Joonho Lee, Konrad Meyer, Xiangyu Wu, Juan Nieto, Andy Smith, Marco Hutter, Roland Siegwart, Mark Mueller, Maurice Fallon, Kostas Alexis

* 50 pages, 25 figures. Accepted at Field Robotics, 2021 

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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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SemSegMap- 3D Segment-Based Semantic Localization


Jul 30, 2021
Andrei Cramariuc, Florian Tschopp, Nikhilesh Alatur, Stefan Benz, Tillmann Falck, Marius Bruehlmeier, Benjamin Hahn, Juan Nieto, Roland Siegwart


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TSDF++: A Multi-Object Formulation for Dynamic Object Tracking and Reconstruction


May 16, 2021
Margarita Grinvald, Federico Tombari, Roland Siegwart, Juan Nieto

* 7 pages, 3 figures. To be published in the 2021 IEEE International Conference on Robotics and Automation (ICRA). Code is available at https://github.com/ethz-asl/tsdf-plusplus and the accompanying video material can be found at https://youtu.be/dSJmoeVasI0 

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Crowd against the machine: A simulation-based benchmark tool to evaluate and compare robot capabilities to navigate a human crowd


Apr 29, 2021
Fabien Grzeskowiak, David Gonon, Daniel Dugas, Diego Paez-Granados, Jen Chung, Juan Nieto, Roland Siegwart, Aude Billard, Marie Babel, Julien Pettré

* ICRA 2021 - IEEE International Conference on Robotics and Automation, May 2021, Xian, China 

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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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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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Hough2Map -- Iterative Event-based Hough Transform for High-Speed Railway Mapping


Feb 18, 2021
Florian Tschopp, Cornelius von Einem, Andrei Cramariuc, David Hug, Andrew William Palmer, Roland Siegwart, Margarita Chli, Juan Nieto

* Florian Tschopp, Cornelius von Einem, and Andrei Cramariuc contributed equally to this work 

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