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Stefan Leutenegger

Department of Computing, Imperial College London, London UK, SW7 2AZ

SIMstack: A Generative Shape and Instance Model for Unordered Object Stacks


Mar 30, 2021
Zoe Landgraf, Raluca Scona, Tristan Laidlow, Stephen James, Stefan Leutenegger, Andrew J. Davison


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In-Place Scene Labelling and Understanding with Implicit Scene Representation


Mar 29, 2021
Shuaifeng Zhi, Tristan Laidlow, Stefan Leutenegger, Andrew J. Davison

* Project page with more videos: https://shuaifengzhi.com/Semantic-NeRF/ 

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Efficient Volumetric Mapping Using Depth Completion With Uncertainty for Robotic Navigation


Dec 05, 2020
Marija Popovic, Florian Thomas, Sotiris Papatheodorou, Nils Funk, Teresa Vidal-Calleja, Stefan Leutenegger

* 8 pages, 10 figures, submission to IEEE Robotics and Automation Letters 

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Multi-Resolution 3D Mapping with Explicit Free Space Representation for Fast and Accurate Mobile Robot Motion Planning


Oct 19, 2020
Nils Funk, Juan Tarrio, Sotiris Papatheodorou, Marija Popovic, Pablo F. Alcantarilla, Stefan Leutenegger

* 8 pages, 9 figures, 5 tables 

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Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks


Oct 19, 2020
Yiduo Wang, Nils Funk, Milad Ramezani, Sotiris Papatheodorou, Marija Popovic, Marco Camurri, Stefan Leutenegger, Maurice Fallon

* 8 pages, 8 figures 

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Deep Probabilistic Feature-metric Tracking


Aug 31, 2020
Binbin Xu, Andrew J. Davison, Stefan Leutenegger

* 8 pages, 9 figures, video link: https://youtu.be/QAuPbI2q8Ho 

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Aerial Manipulation Using Hybrid Force and Position NMPC Applied to Aerial Writing


Jun 03, 2020
Dimos Tzoumanikas, Felix Graule, Qingyue Yan, Dhruv Shah, Marija Popovic, Stefan Leutenegger

* Accepted for publication in Robotics: Science and Systems (RSS) 2020. Video: https://youtu.be/iE--MO0YF0o 

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Bundle Adjustment on a Graph Processor


Mar 30, 2020
Joseph Ortiz, Mark Pupilli, Stefan Leutenegger, Andrew J. Davison

* Published in Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2020). Video: https://www.youtube.com/watch?v=TqeN8aQNgd0 

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Comparing View-Based and Map-Based Semantic Labelling in Real-Time SLAM


Feb 24, 2020
Zoe Landgraf, Fabian Falck, Michael Bloesch, Stefan Leutenegger, Andrew Davison

* ICRA 2020 

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Towards Bounding-Box Free Panoptic Segmentation


Feb 19, 2020
Ujwal Bonde, Pablo F. Alcantarilla, Stefan Leutenegger

* 13 pages, 6 figures 

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Nonlinear MPC with Motor Failure Identification and Recovery for Safe and Aggressive Multicopter Flight


Feb 16, 2020
Dimos Tzoumanikas, Qingyue Yan, Stefan Leutenegger

* Accepted in the International Conference on Robotics and Automation (ICRA) 2020. 7 (6 + 1) pages. Video link: https://youtu.be/cAQeSZ3tIqY 

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Fast Frontier-based Information-driven Autonomous Exploration with an MAV


Feb 13, 2020
Anna Dai, Sotiris Papatheodorou, Nils Funk, Dimos Tzoumanikas, Stefan Leutenegger

* Accepted in the International Conference on Robotics and Automation (ICRA) 2020, 7 pages, 8 figures, for the accompanying video see https://youtu.be/tH2VkVony38 

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Event-based Vision: A Survey


Apr 17, 2019
Guillermo Gallego, Tobi Delbruck, Garrick Orchard, Chiara Bartolozzi, Brian Taba, Andrea Censi, Stefan Leutenegger, Andrew Davison, Joerg Conradt, Kostas Daniilidis, Davide Scaramuzza


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X-Section: Cross-section Prediction for Enhanced RGBD Fusion


Apr 08, 2019
Andrea Nicastro, Ronald Clark, Stefan Leutenegger


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MID-Fusion: Octree-based Object-Level Multi-Instance Dynamic SLAM


Mar 21, 2019
Binbin Xu, Wenbin Li, Dimos Tzoumanikas, Michael Bloesch, Andrew Davison, Stefan Leutenegger

* Accepted to International Conference on Robotics and Automation (ICRA) 2019. 7 (6 + 1) pages. Please also see video Link: https://youtu.be/gturboNl9gg 

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SceneCode: Monocular Dense Semantic Reconstruction using Learned Encoded Scene Representations


Mar 18, 2019
Shuaifeng Zhi, Michael Bloesch, Stefan Leutenegger, Andrew J. Davison

* To be published in Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2019) 

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LS-Net: Learning to Solve Nonlinear Least Squares for Monocular Stereo


Sep 09, 2018
Ronald Clark, Michael Bloesch, Jan Czarnowski, Stefan Leutenegger, Andrew J. Davison

* ECCV 2018. Video: https://youtu.be/5bZbMm8UqbA 

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InteriorNet: Mega-scale Multi-sensor Photo-realistic Indoor Scenes Dataset


Sep 03, 2018
Wenbin Li, Sajad Saeedi, John McCormac, Ronald Clark, Dimos Tzoumanikas, Qing Ye, Yuzhong Huang, Rui Tang, Stefan Leutenegger

* British Machine Vision Conference (BMVC) 2018 

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Fusion++: Volumetric Object-Level SLAM


Aug 28, 2018
John McCormac, Ronald Clark, Michael Bloesch, Andrew J. Davison, Stefan Leutenegger


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Towards an Embodied Semantic Fovea: Semantic 3D scene reconstruction from ego-centric eye-tracker videos


Jul 27, 2018
Mickey Li, Noyan Songur, Pavel Orlov, Stefan Leutenegger, A Aldo Faisal


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CodeSLAM - Learning a Compact, Optimisable Representation for Dense Visual SLAM


Apr 03, 2018
Michael Bloesch, Jan Czarnowski, Ronald Clark, Stefan Leutenegger, Andrew J. Davison

* To be published in Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2018) 

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Semantic Texture for Robust Dense Tracking


Aug 29, 2017
Jan Czarnowski, Stefan Leutenegger, Andrew Davison


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SceneNet RGB-D: 5M Photorealistic Images of Synthetic Indoor Trajectories with Ground Truth


Jan 30, 2017
John McCormac, Ankur Handa, Stefan Leutenegger, Andrew J. Davison


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A Primer on the Differential Calculus of 3D Orientations


Oct 31, 2016
Michael Bloesch, Hannes Sommer, Tristan Laidlow, Michael Burri, Gabriel Nuetzi, Péter Fankhauser, Dario Bellicoso, Christian Gehring, Stefan Leutenegger, Marco Hutter, Roland Siegwart


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SemanticFusion: Dense 3D Semantic Mapping with Convolutional Neural Networks


Sep 28, 2016
John McCormac, Ankur Handa, Andrew Davison, Stefan Leutenegger


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Deep Learning a Grasp Function for Grasping under Gripper Pose Uncertainty


Aug 07, 2016
Edward Johns, Stefan Leutenegger, Andrew J. Davison

* IROS 2016 

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Pairwise Decomposition of Image Sequences for Active Multi-View Recognition


May 26, 2016
Edward Johns, Stefan Leutenegger, Andrew J. Davison

* CVPR 2016 (oral) 

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Place Recognition with Event-based Cameras and a Neural Implementation of SeqSLAM


May 18, 2015
Michael Milford, Hanme Kim, Michael Mangan, Stefan Leutenegger, Tom Stone, Barbara Webb, Andrew Davison

* Paper accepted for presentation at the "Innovative Sensing for Robotics: Focus on Neuromorphic Sensors" workshop at the 2015 IEEE International Conference on Robotics and Automation, 8 pages, 10 figures 

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