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Roland Siegwart

ETH ZĂŒrich

Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots


Nov 11, 2021
Mihir Kulkarni, Mihir Dharmadhikari, Marco Tranzatto, Samuel Zimmermann, Victor Reijgwart, Paolo De Petris, Huan Nguyen, Nikhil Khedekar, Christos Papachristos, Lionel Ott, Roland Siegwart, Marco Hutter, Kostas Alexis

* 8 pages, 5 figures. Submitted to the IEEE International Conference on Robotics and Automation, 2022. Code available at https://github.com/ntnu-arl/gbplanner_ros 

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Multi-Resolution Elevation Mapping and Safe Landing Site Detection with Applications to Planetary Rotorcraft


Nov 11, 2021
Pascal Schoppmann, Pedro F. Proença, Jeff Delaune, Michael Pantic, Timo Hinzmann, Larry Matthies, Roland Siegwart, Roland Brockers

* 8 pages, 12 figures. Accepted at IROS 2021 

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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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Unified Data Collection for Visual-Inertial Calibration via Deep Reinforcement Learning


Sep 30, 2021
Yunke Ao, Le Chen, Florian Tschopp, Michel Breyer, Andrei Cramariuc, Roland Siegwart


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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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Fast Image-Anomaly Mitigation for Autonomous Mobile Robots


Sep 04, 2021
Gianmario Fumagalli, Yannick Huber, Marcin Dymczyk, Roland Siegwart, Renaud Dubé

* Published on 2021 International Conference on Intelligent Robots and Systems (IROS) 

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Modelling and Estimation of Human Walking Gait for Physical Human-Robot Interaction


Aug 27, 2021
Yash Vyas, Mike Allenspach, Christian Lanegger, Roland Siegwart, Marco Tognon

* To be published in The 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment, 4-5/10/2021 

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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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Under the Sand: Navigation and Localization of a Small Unmanned Aerial Vehicle for Landmine Detection with Ground Penetrating Synthetic Aperture Radar


Jun 18, 2021
Rik BĂ€hnemann, Nicholas Lawrance, Lucas Streichenberg, Jen Jen Chung, Michael Pantic, Alexander Grathwohl, Christian Waldschmidt, Roland Siegwart

* Submitted to Field Robotics journal in June 2021 

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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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SegmentMeIfYouCan: A Benchmark for Anomaly Segmentation


Apr 30, 2021
Robin Chan, Krzysztof Lis, Svenja Uhlemeyer, Hermann Blum, Sina Honari, Roland Siegwart, Mathieu Salzmann, Pascal Fua, Matthias Rottmann

* 10 pages, 13 figures, website http://www.segmentmeifyoucan.com/ 

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


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

* 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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Dynamic Object Aware LiDAR SLAM based on Automatic Generation of Training Data


Apr 08, 2021
Patrick Pfreundschuh, Hubertus Franciscus Cornelis Hendrikx, Victor Reijgwart, Renaud Dubé, Roland Siegwart, Andrei Cramariuc

* 6 pages, 11 figures, Accepted to the 2021 IEEE International Conference on Robotics and Automation (ICRA 2021) 

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Dynamic-Aware Autonomous Exploration in Populated Environments


Apr 06, 2021
Valentina Cavinato, Thomas Eppenberger, Dina Youakim, Roland Siegwart, Renaud Dubé

* 7 pages, 5 figures, Accepted to the 2021 IEEE International Conference on Robotics and Automation (ICRA 2021) 

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SD-6DoF-ICLK: Sparse and Deep Inverse Compositional Lucas-Kanade Algorithm on SE(3)


Mar 30, 2021
Timo Hinzmann, Roland Siegwart

* Initial submission; 7 pages, 3 figures, 2 tables 

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Online Informative Path Planning for Active Information Gathering of a 3D Surface


Mar 17, 2021
Hai Zhu, Jen Jen Chung, Nicholas R. J. Lawrance, Roland Siegwart, Javier Alonso-Mora

* 7 pages, 7 figures, to be published in 2021 IEEE International Conference on Robotics and Automation (ICRA) 

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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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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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Points2Vec: Unsupervised Object-level Feature Learning from Point Clouds


Feb 08, 2021
Joël Bachmann, Kenneth Blomqvist, Julian Förster, Roland Siegwart


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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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Active Model Learning using Informative Trajectories for Improved Closed-Loop Control on Real Robots


Jan 20, 2021
Weixuan Zhang, Lionel Ott, Marco Tognon, Roland Siegwart, Juan Nieto


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Volumetric Grasping Network: Real-time 6 DOF Grasp Detection in Clutter


Jan 04, 2021
Michel Breyer, Jen Jen Chung, Lionel Ott, Roland Siegwart, Juan Nieto

* Conference on Robot Learning (CoRL), 2020 

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