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Informatik IX

Professorship for Machine Learning for Robotics

Smart Robotics Lab

Boltzmannstrasse 3
85748 Garching info@vision.in.tum.de

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Publications

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2021 2020 2019 2018 2017 2016 2015 2014 2013 2012 2011 2010 2009 2008 2007  
2021
Other Publications
[]Detecting objects in video data (JB Mccormac, A Handa, A Davison and S Leutenegger), US Patent 10,915,731, 2021. (US Patent 10,915,731) [bibtex]
2021 2020 2019 2018 2017 2016 2015 2014 2013 2012 2011 2010 2009 2008 2007  
2020
Journal Articles
[]Deep Probabilistic Feature-metric Tracking (B Xu, AJ Davison and S Leutenegger), In IEEE Robotics and Automation Letters, IEEE, volume 6, 2020.  [bibtex]
[]OKVIS 2.0 for the FPV Drone Racing VIO Competition 2020 (S Leutenegger), In , 2020.  [bibtex]
Preprints
[]Efficient Volumetric Mapping Using Depth Completion With Uncertainty for Robotic Navigation (M Popovic, F Thomas, S Papatheodorou, N Funk, T Vidal-Calleja and S Leutenegger), In arXiv preprint arXiv:2012.03023, 2020.  [bibtex]
[]Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks (Y Wang, N Funk, M Ramezani, S Papatheodorou, M Popovic, M Camurri, S Leutenegger and M Fallon), In arXiv preprint arXiv:2010.09232, 2020.  [bibtex]
[]Multi-resolution 3D mapping with explicit free space representation for fast and accurate mobile robot motion planning (N Funk, J Tarrio, S Papatheodorou, M Popovic, PF Alcantarilla and S Leutenegger), In arXiv preprint arXiv:2010.07929, 2020.  [bibtex]
[]Aerial Manipulation Using Hybrid Force and Position NMPC Applied to Aerial Writing (D Tzoumanikas, F Graule, Q Yan, D Shah, M Popovic and S Leutenegger), In arXiv preprint arXiv:2006.02116, 2020.  [bibtex]
[]Towards bounding-box free panoptic segmentation (U Bonde, PF Alcantarilla and S Leutenegger), In arXiv preprint arXiv:2002.07705, 2020.  [bibtex]
Conference and Workshop Papers
[]Bundle adjustment on a graph processor (J Ortiz, M Pupilli, S Leutenegger and AJ Davison), In Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2020.  [bibtex]
[]Towards the Probabilistic Fusion of Learned Priors into Standard Pipelines for 3D Reconstruction (T Laidlow, J Czarnowski, A Nicastro, R Clark and S Leutenegger), In 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020.  [bibtex]
[]Comparing view-based and map-based semantic labelling in real-time SLAM (Z Landgraf, F Falck, M Bloesch, S Leutenegger and AJ Davison), In 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020.  [bibtex]
[]Nonlinear mpc with motor failure identification and recovery for safe and aggressive multicopter flight (D Tzoumanikas, Q Yan and S Leutenegger), In 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020.  [bibtex]
[]Fast frontier-based information-driven autonomous exploration with an MAV (A Dai, S Papatheodorou, N Funk, D Tzoumanikas and S Leutenegger), In 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020.  [bibtex]
Other Publications
[]Mapping a space using a multi-directional camera (R Lukierski, S Leutenegger and A Davison), US Patent 10,796,151, 2020. (US Patent 10,796,151) [bibtex]
2021 2020 2019 2018 2017 2016 2015 2014 2013 2012 2011 2010 2009 2008 2007  
2019
Journal Articles
[]Special Issue on Machine Vision (TK Kim, S Zafeiriou, B Glocker and S Leutenegger), In International Journal of Computer Vision, Springer US, volume 127, 2019.  [bibtex]
[]Bioinspired design of a landing system with soft shock absorbers for autonomous aerial robots (K Zhang, P Chermprayong, D Tzoumanikas, W Li, M Grimm, M Smentoch, S Leutenegger and M Kovac), In Journal of Field Robotics, volume 36, 2019.  [bibtex]
[]Fully autonomous micro air vehicle flight and landing on a moving target using visual–inertial estimation and model-predictive control (D Tzoumanikas, W Li, M Grimm, K Zhang, M Kovac and S Leutenegger), In Journal of Field Robotics, volume 36, 2019.  [bibtex]
Preprints
[]Event-based vision: A survey (G Gallego, T Delbruck, G Orchard, C Bartolozzi, B Taba, A Censi, S Leutenegger, A Davison, J Conradt, K Daniilidis and others), In arXiv preprint arXiv:1904.08405, 2019.  [bibtex]
Conference and Workshop Papers
[]Adaptive-resolution octree-based volumetric SLAM (E Vespa, N Funk, PH Kelly and S Leutenegger), In 2019 International Conference on 3D Vision (3DV), 2019.  [bibtex]
[]Learning meshes for dense visual SLAM (M Bloesch, T Laidlow, R Clark, S Leutenegger and AJ Davison), In Proceedings of the IEEE/CVF International Conference on Computer Vision, 2019.  [bibtex]
[]Characterizing visual localization and mapping datasets (S Saeedi, ED Carvalho, W Li, D Tzoumanikas, S Leutenegger, PH Kelly and AJ Davison), In 2019 International Conference on Robotics and Automation (ICRA), 2019.  [bibtex]
[]DeepFusion: real-time dense 3D reconstruction for monocular SLAM using single-view depth and gradient predictions (T Laidlow, J Czarnowski and S Leutenegger), In 2019 International Conference on Robotics and Automation (ICRA), 2019.  [bibtex]
[]KO-Fusion: dense visual SLAM with tightly-coupled kinematic and odometric tracking (C Houseago, M Bloesch and S Leutenegger), In 2019 International Conference on Robotics and Automation (ICRA), 2019.  [bibtex]
[]Scenecode: Monocular dense semantic reconstruction using learned encoded scene representations (S Zhi, M Bloesch, S Leutenegger and AJ Davison), In Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2019.  [bibtex]
[]X-section: Cross-section prediction for enhanced RGB-D fusion (A Nicastro, R Clark and S Leutenegger), In Proceedings of the IEEE/CVF International Conference on Computer Vision, 2019.  [bibtex]
[]Mid-fusion: Octree-based object-level multi-instance dynamic slam (B Xu, W Li, D Tzoumanikas, M Bloesch, A Davison and S Leutenegger), In 2019 International Conference on Robotics and Automation (ICRA), 2019.  [bibtex]
Other Publications
[]Estimating dimensions for an enclosed space using a multi-directional camera (R Lukierski, S Leutenegger and A Davison), US Patent App. 16/252,426, 2019. (US Patent App. 16/252,426) [bibtex]
[]Real-time height mapping (A Davison, S Leutenegger and J Zienkiewicz), US Patent App. 16/188,693, 2019. (US Patent App. 16/188,693) [bibtex]
[]Modelling a three-dimensional space (T Whelan, RFS MORENO, S Leutenegger, A Davison and B Glocker), US Patent 10,460,463, 2019. (US Patent 10,460,463) [bibtex]
2021 2020 2019 2018 2017 2016 2015 2014 2013 2012 2011 2010 2009 2008 2007  
2018
Journal Articles
[]Efficient octree-based volumetric SLAM supporting signed-distance and occupancy mapping (E Vespa, N Nikolov, M Grimm, L Nardi, PH Kelly and S Leutenegger), In IEEE Robotics and Automation Letters, IEEE, volume 3, 2018.  [bibtex]
Preprints
[]Ls-net: Learning to solve nonlinear least squares for monocular stereo (R Clark, M Bloesch, J Czarnowski, S Leutenegger and AJ Davison), In arXiv preprint arXiv:1809.02966, 2018.  [bibtex]
[]InteriorNet: Mega-scale multi-sensor photo-realistic indoor scenes dataset (W Li, S Saeedi, J McCormac, R Clark, D Tzoumanikas, Q Ye, Y Huang, R Tang and S Leutenegger), In arXiv preprint arXiv:1809.00716, 2018.  [bibtex]
[]Towards an Embodied Semantic Fovea: Semantic 3D scene reconstruction from ego-centric eye-tracker videos (M Li, N Songur, P Orlov, S Leutenegger and AA Faisal), In arXiv preprint arXiv:1807.10561, 2018.  [bibtex]
Conference and Workshop Papers
[]Learning to solve nonlinear least squares for monocular stereo (R Clark, M Bloesch, J Czarnowski, S Leutenegger and AJ Davison), In Proceedings of the European Conference on Computer Vision (ECCV), 2018.  [bibtex]
[]Fusion++: Volumetric object-level slam (J McCormac, R Clark, M Bloesch, A Davison and S Leutenegger), In 2018 international conference on 3D vision (3DV), 2018.  [bibtex]
[]CodeSLAM—learning a compact, optimisable representation for dense visual SLAM (M Bloesch, J Czarnowski, R Clark, S Leutenegger and AJ Davison), In Proceedings of the IEEE conference on computer vision and pattern recognition, 2018.  [bibtex]
2021 2020 2019 2018 2017 2016 2015 2014 2013 2012 2011 2010 2009 2008 2007  
2017
Journal Articles
[]Design of small hand-launched solar-powered UAVs: From concept study to a multi-day world endurance record flight (P Oettershagen, A Melzer, T Mantel, K Rudin, T Stastny, B Wawrzacz, T Hinzmann, S Leutenegger, K Alexis and R Siegwart), In Journal of Field Robotics, volume 34, 2017.  [bibtex]
Conference and Workshop Papers
[]Meta-learning for instance-level data association (R Clark, J McCormac, S Leutenegger and A Davison), In Neural Information Processing Systems (NIPS), volume 1, 2017.  [bibtex]
[]Scenenet rgb-d: Can 5m synthetic images beat generic imagenet pre-training on indoor segmentation? (J McCormac, A Handa, S Leutenegger and AJ Davison), In Proceedings of the IEEE International Conference on Computer Vision, 2017.  [bibtex]
[]Dense rgb-d-inertial slam with map deformations (T Laidlow, M Bloesch, W Li and S Leutenegger), In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.  [bibtex]
[]Semantic texture for robust dense tracking (J Czarnowski, S Leutenegger and AJ Davison), In Proceedings of the IEEE International Conference on Computer Vision Workshops, 2017.  [bibtex]
[]Monocular visual odometry: Sparse joint optimisation or dense alternation? (L Platinsky, AJ Davison and S Leutenegger), In 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017.  [bibtex]
[]Room layout estimation from rapid omnidirectional exploration (R Lukierski, S Leutenegger and AJ Davison), In 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017.  [bibtex]
[]Semanticfusion: Dense 3d semantic mapping with convolutional neural networks (J McCormac, A Handa, A Davison and S Leutenegger), In 2017 IEEE International Conference on Robotics and automation (ICRA), 2017.  [bibtex]
2021 2020 2019 2018 2017 2016 2015 2014 2013 2012 2011 2010 2009 2008 2007  
2016
Book Chapters
[]Flying robots (S Leutenegger, C Hürzeler, AK Stowers, K Alexis, MW Achtelik, D Lentink, PY Oh and R Siegwart), Chapter in Springer Handbook of Robotics, Springer, Cham, 2016.  [bibtex]
Journal Articles
[]ElasticFusion: Real-time dense SLAM and light source estimation (T Whelan, RF Salas-Moreno, B Glocker, AJ Davison and S Leutenegger), In The International Journal of Robotics Research, SAGE Publications Sage UK: London, England, volume 35, 2016.  [bibtex]
Preprints
[]A primer on the differential calculus of 3d orientations (M Bloesch, H Sommer, T Laidlow, M Burri, G Nuetzi, P Fankhauser, D Bellicoso, C Gehring, S Leutenegger, M Hutter and others), In arXiv preprint arXiv:1606.05285, 2016.  [bibtex]
Conference and Workshop Papers
[]Monocular, real-time surface reconstruction using dynamic level of detail (J Zienkiewicz, A Tsiotsios, A Davison and S Leutenegger), In 2016 Fourth International Conference on 3D Vision (3DV), 2016.  [bibtex]
[]Real-time 3D reconstruction and 6-DoF tracking with an event camera (H Kim, S Leutenegger and AJ Davison), In European Conference on Computer Vision, 2016.  [bibtex]
[]Real-time height map fusion using differentiable rendering (J Zienkiewicz, A Davison and S Leutenegger), In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.  [bibtex]
[]Deep learning a grasp function for grasping under gripper pose uncertainty (E Johns, S Leutenegger and AJ Davison), In Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, 2016.  [bibtex]
[]Simultaneous optical flow and intensity estimation from an event camera (P Bardow, AJ Davison and S Leutenegger), In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2016.  [bibtex]
[]Pairwise decomposition of image sequences for active multi-view recognition (E Johns, S Leutenegger and AJ Davison), In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2016.  [bibtex]
2021 2020 2019 2018 2017 2016 2015 2014 2013 2012 2011 2010 2009 2008 2007  
2015
Journal Articles
[]Keyframe-based visual–inertial odometry using nonlinear optimization (S Leutenegger, S Lynen, M Bosse, R Siegwart and P Furgale), In The International Journal of Robotics Research, SAGE Publications, volume 34, 2015.  [bibtex]
Preprints
[]Place recognition with event-based cameras and a neural implementation of SeqSLAM (M Milford, H Kim, M Mangan, S Leutenegger, T Stone, B Webb and A Davison), In arXiv preprint arXiv:1505.04548, 2015.  [bibtex]
Conference and Workshop Papers
[]ElasticFusion: Dense SLAM Without A Pose Graph (T Whelan, S Leutenegger, RF. Salas-Moreno, B Glocker and AJ. Davison), In Robotics: Science and Systems, 2015.  [bibtex]
[]Rapid free-space mapping from a single omnidirectional camera (R Lukierski, S Leutenegger and AJ Davison), In 2015 European Conference on Mobile Robots (ECMR), 2015.  [bibtex]
[]Towards visual slam with event-based cameras (M Milford, H Kim, S Leutenegger and A Davison), In The problem of mobile sensors workshop in conjunction with RSS, 2015.  [bibtex]
[]A solar-powered hand-launchable UAV for low-altitude multi-day continuous flight (P Oettershagen, A Melzer, T Mantel, K Rudin, R Lotz, D Siebenmann, S Leutenegger, K Alexis and R Siegwart), In 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015.  [bibtex]
Other Publications
[]Aircraft, methods for providing optical information, method for transmission of acoustic information and method for observing or tracking an object (A Ledergerber, A Schaffner, C Ruch, D Meier, J Weichart, L Gasser, L Muri, M Kach, M Krebs, M Burri and others), US Patent App. 14/395,657, 2015. (US Patent App. 14/395,657) [bibtex]
2021 2020 2019 2018 2017 2016 2015 2014 2013 2012 2011 2010 2009 2008 2007  
2014
Conference and Workshop Papers
[]Robust state estimation for small unmanned airplanes (S Leutenegger, A Melzer, K Alexis and R Siegwart), In 2014 IEEE Conference on Control Applications (CCA), 2014.  [bibtex]
[]Explicit model predictive control and l 1-navigation strategies for fixed-wing uav path tracking (P Oettershagen, A Melzer, S Leutenegger, K Alexis and R Siegwart), In 22nd Mediterranean Conference on Control and Automation, 2014.  [bibtex]
[]A synchronized visual-inertial sensor system with FPGA pre-processing for accurate real-time SLAM (J Nikolic, J Rehder, M Burri, P Gohl, S Leutenegger, PT Furgale and R Siegwart), In 2014 IEEE international conference on robotics and automation (ICRA), 2014.  [bibtex]
PhD Thesis
[]Unmanned solar airplanes: Design and algorithms for efficient and robust autonomous operation (S Leutenegger), PhD thesis, ETH Zurich, 2014.  [bibtex]
2021 2020 2019 2018 2017 2016 2015 2014 2013 2012 2011 2010 2009 2008 2007  
2013
Journal Articles
[]State estimation for legged robots-consistent fusion of leg kinematics and IMU (M Bloesch, M Hutter, MA Hoepflinger, S Leutenegger, C Gehring, CD Remy and R Siegwart), In Robotics, MIT Press, volume 17, 2013.  [bibtex]
Conference and Workshop Papers
[]Ground and aerial robots as an aid to alpine search and rescue: Initial sherpa outcomes (L Marconi, S Leutenegger, S Lynen, M Burri, R Naldi and C Melchiorri), In 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2013.  [bibtex]
[]Design and control of a spherical omnidirectional blimp (M Burri, L Gasser, M Käch, M Krebs, S Laube, A Ledergerber, D Meier, R Michaud, L Mosimann, L Müri and others), In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013.  [bibtex]
[]A UAV system for inspection of industrial facilities (J Nikolic, M Burri, J Rehder, S Leutenegger, C Huerzeler and R Siegwart), In 2013 IEEE Aerospace Conference, 2013.  [bibtex]
2021 2020 2019 2018 2017 2016 2015 2014 2013 2012 2011 2010 2009 2008 2007  
2012
Journal Articles
[]Image Keypoint Detection, Description, and Matching (S Leutenegger and others), In ETH Zurich, Jul, volume 5, 2012.  [bibtex]
Conference and Workshop Papers
[]A low-cost and fail-safe inertial navigation system for airplanes (S Leutenegger and RY Siegwart), In 2012 IEEE International Conference on Robotics and Automation, 2012.  [bibtex]
[]The SHERPA project: Smart collaboration between humans and ground-aerial robots for improving rescuing activities in alpine environments (L Marconi, C Melchiorri, M Beetz, D Pangercic, R Siegwart, S Leutenegger, R Carloni, S Stramigioli, H Bruyninckx, P Doherty and others), In 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2012.  [bibtex]
2021 2020 2019 2018 2017 2016 2015 2014 2013 2012 2011 2010 2009 2008 2007  
2011
Journal Articles
[]Solar airplane conceptual design and performance estimation (S Leutenegger, M Jabas and RY Siegwart), In Journal of Intelligent & Robotic Systems, Springer Netherlands, volume 61, 2011.  [bibtex]
Conference and Workshop Papers
[]Modeling and decoupling control of the coax micro helicopter (P Fankhauser, S Bouabdallah, S Leutenegger and R Siegwart), In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011.  [bibtex]
[]BRISK: Binary robust invariant scalable keypoints (S Leutenegger, M Chli and RY Siegwart), In 2011 International conference on computer vision, 2011.  [bibtex]
2021 2020 2019 2018 2017 2016 2015 2014 2013 2012 2011 2010 2009 2008 2007  
2010
Other Publications
[]Modeling and control of a ballbot (P Fankhauser and C Gwerder), Master's thesis, Eidgenössische Technische Hochschule Zürich, 2010.  [bibtex]
2021 2020 2019 2018 2017 2016 2015 2014 2013 2012 2011 2010 2009 2008 2007  
2009
Journal Articles
[]Designing solar airplanes for continuous flight (A Noth), In SPIE Newsroom, 2009.  [bibtex]
Other Publications
[]Aerodynamic Performance and Stability Simulation of DifferentFlying Wing Model Airplane Configurations (F Gohl and S Leutenegger), Bachelor Thesis, Swiss Federal Institute of Technology in Zurich, 2009.  [bibtex]
2021 2020 2019 2018 2017 2016 2015 2014 2013 2012 2011 2010 2009 2008 2007  
2008
Conference and Workshop Papers
[]Design and Comparison of a Steering Mechanism for an Autonomous Coaxial Indoor Helicopter (C Bermes, S Leutenegger, S Bouabdallah and R Siegwart), In Proceedings of The ASME International Symposium on Flexible Automation (ISFA), 2008.  [bibtex]
[]New design of the steering mechanism for a mini coaxial helicopter (C Bermes, S Leutenegger, S Bouabdallah, D Schafroth and R Siegwart), In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008.  [bibtex]
2021 2020 2019 2018 2017 2016 2015 2014 2013 2012 2011 2010 2009 2008 2007  
2007
Journal Articles
[]Mechanical design and realization of a steering mechanism for a coaxial helicopter (S Leutenegger, C Bermes and S Bouabdallah), In Semester Thesis, 2007.  [bibtex]
Conference and Workshop Papers
[]Flagella-like propulsion for microrobots using a nanocoil and a rotating electromagnetic field (DJ Bell, S Leutenegger, K Hammar, L Dong and BJ Nelson), In Proceedings 2007 IEEE international conference on robotics and automation, 2007.  [bibtex]
2021 2020 2019 2018 2017 2016 2015 2014 2013 2012 2011 2010 2009 2008 2007  
Journal Articles
[]CodeSLAM-Learning a Compact, Optimisable Representation for Dense Visual SLAM Download PDF (M Bloesch, J Czarnowski, R Clark, S Leutenegger and AJ Davison), In [bibtex]
[]LS-Net: Learning to Solve Nonlinear Least Squares for Monocular Stereo Download PDF (R Clark, M Bloesch, J Czarnowski, S Leutenegger and AJ Davison), In [bibtex]
[]X-Section: Cross-Section Prediction for Enhanced RGB-D Fusion. Supplementary Materials. (A Nicastro, R Clark and S Leutenegger), In [bibtex]
[]Development of a Flapping Wing Mechanism (S Bouabdallah, S Leutenegger and R Siegwart), In [bibtex]
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Rechte Seite

Informatik IX

Professorship for Machine Learning for Robotics

Smart Robotics Lab

Boltzmannstrasse 3
85748 Garching info@vision.in.tum.de

Follow us on:
SRL  CVG  DVL