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maplab 2.0 -- A Modular and Multi-Modal Mapping Framework


Dec 01, 2022
Andrei Cramariuc, Lukas Bernreiter, Florian Tschopp, Marius Fehr, Victor Reijgwart, Juan Nieto, Roland Siegwart, Cesar Cadena

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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

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* 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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Present and Future of SLAM in Extreme Underground Environments


Aug 02, 2022
Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee, Christopher E. Denniston, Simon-Pierre Deschênes, Kyle Harlow, Shehryar Khattak, Lucas Nogueira, Matteo Palieri, Pavel Petráček, Matěj Petrlík, Andrzej Reinke, Vít Krátký, Shibo Zhao, Ali-akbar Agha-mohammadi, Kostas Alexis, Christoffer Heckman, Kasra Khosoussi, Navinda Kottege, Benjamin Morrell, Marco Hutter, Fred Pauling, François Pomerleau, Martin Saska, Sebastian Scherer, Roland Siegwart, Jason L. Williams, Luca Carlone

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* 21 pages including references. This survey paper is submitted to IEEE Transactions on Robotics for pre-approval 

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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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Collaborative Robot Mapping using Spectral Graph Analysis


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

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

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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

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

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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

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

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3D3L: Deep Learned 3D Keypoint Detection and Description for LiDARs


Apr 12, 2021
Dominic Streiff, Lukas Bernreiter, Florian Tschopp, Marius Fehr, Roland Siegwart

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

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