Lukas Bernreiter

31 papers A* 4A 1C 2Journal 24
YearRankTypeTitle / Venue / Authors
2025 J jnl
CompSLAM: Complementary Hierarchical Multi-Modal Localization and Mapping for Robot Autonomy in Underground Environments.
CoRR
Shehryar Khattak, Timon Homberger, Lukas Bernreiter, Julian Nubert, Olov Andersson, Roland Siegwart, Kostas Alexis, Marco Hutter
2024 J jnl
A framework for collaborative multi-robot mapping using spectral graph wavelets.
Int. J. Robotics Res.
Lukas Bernreiter, Shehryar Khattak, Lionel Ott, Roland Siegwart, Marco Hutter, César Cadena
2024 J jnl
Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge.
IEEE Trans. Robotics
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 Petrácek, Matej 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 A. Scherer, Roland Siegwart, Jason L. Williams, Luca Carlone
2024 J jnl
Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned.
Field Robotics
Marco Tranzatto, Mihir Dharmadhikari, Lukas Bernreiter, Marco Camurri, Shehryar Khattak, Frank Mascarich, Patrick Pfreundschuh, David Wisth, Samuel Zimmermann, Mihir Kulkarni, Victor Reijgwart, Benoît 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, Matías Mattamala, Markus Montenegro, Konrad Meyer, Xiangyu Wu, Adrien Briod, Mark W. Mueller, Maurice F. Fallon, Roland Siegwart, Marco Hutter, Kostas Alexis
2023 A* conf
SphNet: A Spherical Network for Semantic Pointcloud Segmentation.
ICRA
Lukas Bernreiter, Lionel Ott, Roland Siegwart, Cesar Cadena
2023 J jnl
maplab 2.0 - A Modular and Multi-Modal Mapping Framework.
IEEE Robotics Autom. Lett.
Andrei Cramariuc, Lukas Bernreiter, Florian Tschopp, Marius Fehr, Victor Reijgwart, Juan I. Nieto, Roland Siegwart, Cesar Cadena
2022 J jnl
A Framework for Collaborative Multi-Robot Mapping using Spectral Graph Wavelets.
CoRR
Lukas Bernreiter, Shehryar Khattak, Lionel Ott, Roland Siegwart, Marco Hutter, Cesar Cadena
2022 J jnl
CERBERUS in the DARPA Subterranean Challenge.
Sci. Robotics
Marco Tranzatto, Takahiro Miki, Mihir Dharmadhikari, Lukas Bernreiter, Mihir Kulkarni, Frank Mascarich, Olov Andersson, Shehryar Khattak, Marco Hutter, Roland Siegwart, Kostas Alexis
2022 J jnl
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge.
CoRR
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 I. Nieto, Andy Smith, Marco Hutter, Roland Siegwart, Mark W. Mueller, Maurice F. Fallon, Kostas Alexis
2022 J jnl
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge.
Field Robotics
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 I. Nieto, Andy Smith, Marco Hutter, Roland Siegwart, Mark W. Mueller, Maurice F. Fallon, Kostas Alexis
2022 A* conf
Collaborative Robot Mapping using Spectral Graph Analysis.
ICRA
Lukas Bernreiter, Shehryar Khattak, Lionel Ott, Roland Siegwart, Marco Hutter, César Cadena
2022 J jnl
Collaborative Robot Mapping using Spectral Graph Analysis.
CoRR
Lukas Bernreiter, Shehryar Khattak, Lionel Ott, Roland Siegwart, Marco Hutter, César Cadena
2022 J jnl
Present and Future of SLAM in Extreme Underground Environments.
CoRR
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 Petrácek, Matej 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 A. Scherer, Roland Siegwart, Jason L. Williams, Luca Carlone
2022 J jnl
SphNet: A Spherical Network for Semantic Pointcloud Segmentation.
CoRR
Lukas Bernreiter, Lionel Ott, Roland Siegwart, Cesar Cadena
2022 J jnl
Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned.
CoRR
Marco Tranzatto, Mihir Dharmadhikari, Lukas Bernreiter, Marco Camurri, Shehryar Khattak, Frank Mascarich, Patrick Pfreundschuh, David Wisth, Samuel Zimmermann, Mihir Kulkarni, Victor Reijgwart, Benoît 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, Matías Mattamala, Markus Montenegro, Konrad Meyer, Xiangyu Wu, Adrien Briod, Mark W. Mueller, Maurice F. Fallon, Roland Siegwart, Marco Hutter, Kostas Alexis
2022 J jnl
maplab 2.0 - A Modular and Multi-Modal Mapping Framework.
CoRR
Andrei Cramariuc, Lukas Bernreiter, Florian Tschopp, Marius Fehr, Victor Reijgwart, Juan I. Nieto, Roland Siegwart, Cesar Cadena
2021 A* conf
3D3L: Deep Learned 3D Keypoint Detection and Description for LiDARs.
ICRA
Dominc Streiff, Lukas Bernreiter, Florian Tschopp, Marius Fehr, Roland Siegwart
2021 J jnl
3D3L: Deep Learned 3D Keypoint Detection and Description for LiDARs.
CoRR
Dominc Streiff, Lukas Bernreiter, Florian Tschopp, Marius Fehr, Roland Siegwart
2021 J jnl
Certainty Aware Global Localisation Using 3D Point Correspondences.
IEEE Robotics Autom. Lett.
Remo Steiner, Mark Cox, Paulo V. K. Borges, Lukas Bernreiter, Juan I. Nieto
2021 J jnl
PHASER: A Robust and Correspondence-Free Global Pointcloud Registration.
IEEE Robotics Autom. Lett.
Lukas Bernreiter, Lionel Ott, Juan I. Nieto, Roland Siegwart, Cesar Cadena
2021 J jnl
PHASER: a Robust and Correspondence-free Global Pointcloud Registration.
CoRR
Lukas Bernreiter, Lionel Ott, Juan I. Nieto, Roland Siegwart, Cesar Cadena
2021 A* conf
Spherical Multi-Modal Place Recognition for Heterogeneous Sensor Systems.
ICRA
Lukas Bernreiter, Lionel Ott, Juan I. Nieto, Roland Siegwart, Cesar Cadena
2021 J jnl
Spherical Multi-Modal Place Recognition for Heterogeneous Sensor Systems.
CoRR
Lukas Bernreiter, Lionel Ott, Juan I. Nieto, Roland Siegwart, Cesar Cadena
2020 A conf
Accurate Mapping and Planning for Autonomous Racing.
IROS
Leiv Andresen, Adrian Brandemuehl, Alex Hönger, Benson Kuan, Niclas Vödisch, Hermann Blum, Victor Reijgwart, Lukas Bernreiter, Lukas Schaupp, Jen Jen Chung, Mathias Bürki, Martin R. Oswald, Roland Siegwart, Abel Gawel
2020 J jnl
Fast and Accurate Mapping for Autonomous Racing.
CoRR
Leiv Andresen, Adrian Brandemuehl, Alex Hönger, Benson Kuan, Niclas Vödisch, Hermann Blum, Victor Reijgwart, Lukas Bernreiter, Lukas Schaupp, Jen Jen Chung, Mathias Bürki, Martin R. Oswald, Roland Siegwart, Abel Gawel
2020 J jnl
Multiple Hypothesis Semantic Mapping for Robust Data Association.
CoRR
Lukas Bernreiter, Abel Gawel, Hannes Sommer, Juan I. Nieto, Roland Siegwart, Cesar Cadena
2020 J jnl
VersaVIS - An Open Versatile Multi-Camera Visual-Inertial Sensor Suite.
Sensors
Florian Tschopp, Michael Riner, Marius Fehr, Lukas Bernreiter, Fadri Furrer, Tonci Novkovic, Andreas Pfrunder, Cesar Cadena, Roland Siegwart, Juan I. Nieto
2019 J jnl
Multiple Hypothesis Semantic Mapping for Robust Data Association.
IEEE Robotics Autom. Lett.
Lukas Bernreiter, Abel Gawel, Hannes Sommer, Juan I. Nieto, Roland Siegwart, Cesar Dario Cadena Lerma
2019 J jnl
VersaVIS: An Open Versatile Multi-Camera Visual-Inertial Sensor Suite.
CoRR
Florian Tschopp, Michael Riner, Marius Fehr, Lukas Bernreiter, Fadri Furrer, Tonci Novkovic, Andreas Pfrunder, Cesar Cadena, Roland Siegwart, Juan I. Nieto
2018 C conf
Nonlinear Progressive Filtering for SE(2) Estimation.
FUSION
Kailai Li, Gerhard Kurz, Lukas Bernreiter, Uwe D. Hanebeck
2018 C conf
Simultaneous Localization and Mapping Using a Novel Dual Quaternion Particle Filter.
FUSION
Kailai Li, Gerhard Kurz, Lukas Bernreiter, Uwe D. Hanebeck