Stefan Leutenegger

171 papers A* 39A 18C 1Journal 95Unranked 17

Year	Rank	Type	Title / Venue / Authors
2025	J	`jnl`	Actron3D: Learning Actionable Neural Functions from Videos for Transferable Robotic Manipulation. CoRR Anran Zhang, Hanzhi Chen, Yannick Burkhardt, Yao Zhong, Johannes Betz, Helen Oleynikova, Stefan Leutenegger
2025	J	`jnl`	CoRe-GS: Coarse-to-Refined Gaussian Splatting with Semantic Object Focus. CoRR Hannah Schieber, Dominik Frischmann, Victor Schaack, Simon Boche, Angela P. Schoellig, Stefan Leutenegger, Daniel Roth
2025	A*	`conf`	Digiforests: a Longitudinal Lidar Dataset for Forestry Robotics. ICRA Meher V. R. Malladi, Nived Chebrolu, Irene Scacchetti, Luca Lobefaro, Tiziano Guadagnino, Benoît Casseau, Haedam Oh, Leonard Freißmuth, Markus Karppinen, Janine Schweier, Stefan Leutenegger, Jens Behley, Cyrill Stachniss, Maurice F. Fallon
2025	A*	`conf`	Efficient Submap-based Autonomous MAV Exploration using Visual-Inertial SLAM Configurable for LiDARs or Depth Cameras. ICRA Sotiris Papatheodorou, Simon Boche, Sebastián Barbas Laina, Stefan Leutenegger
2025	J	`jnl`	FindAnything: Open-Vocabulary and Object-Centric Mapping for Robot Exploration in Any Environment. CoRR Sebastián Barbas Laina, Simon Boche, Sotiris Papatheodorou, Simon Schaefer, Jaehyung Jung, Stefan Leutenegger
2025	J	`jnl`	FrontierNet: Learning Visual Cues to Explore. CoRR Boyang Sun, Hanzhi Chen, Stefan Leutenegger, Cesar Cadena, Marc Pollefeys, Hermann Blum
2025	J	`jnl`	FrontierNet: Learning Visual Cues to Explore. IEEE Robotics Autom. Lett. Boyang Sun, Hanzhi Chen, Stefan Leutenegger, Cesar Cadena, Marc Pollefeys, Hermann Blum
2025	J	`jnl`	GOPLA: Generalizable Object Placement Learning via Synthetic Augmentation of Human Arrangement. CoRR Yao Zhong, Hanzhi Chen, Simon Schaefer, Anran Zhang, Stefan Leutenegger
2025	J	`jnl`	GSFix3D: Diffusion-Guided Repair of Novel Views in Gaussian Splatting. CoRR Jiaxin Wei, Stefan Leutenegger, Simon Schaefer
2025	J	`jnl`	HumanMPC - Safe and Efficient MAV Navigation among Humans. CoRR Simon Schaefer, Helen Oleynikova, Sandra Hirche, Stefan Leutenegger
2025	J	`jnl`	Int-HRL: towards intention-based hierarchical reinforcement learning. Neural Comput. Appl. Anna Penzkofer, Simon Schaefer, Florian Strohm, Mihai Bâce, Stefan Leutenegger, Andreas Bulling
2025	J	`jnl`	OKVIS2-X: Open Keyframe-Based Visual-Inertial SLAM Configurable With Dense Depth or LiDAR, and GNSS. IEEE Trans. Robotics Simon Boche, Jae-Hyung Jung, Sebastián Barbas Laina, Stefan Leutenegger
2025	J	`jnl`	OKVIS2-X: Open Keyframe-based Visual-Inertial SLAM Configurable with Dense Depth or LiDAR, and GNSS. CoRR Simon Boche, Jaehyung Jung, Sebastián Barbas Laina, Stefan Leutenegger
2025	A	`conf`	REGRACE: A Robust and Efficient Graph-based Re-localization Algorithm using Consistency Evaluation. IROS Débora N. P. Oliveira, Joshua Knights, Sebastián Barbas Laina, Simon Boche, Wolfram Burgard, Stefan Leutenegger
2025	J	`jnl`	REGRACE: A Robust and Efficient Graph-based Re-localization Algorithm using Consistency Evaluation. CoRR Débora N. P. Oliveira, Joshua Knights, Sebastián Barbas Laina, Simon Boche, Wolfram Burgard, Stefan Leutenegger
2025	A*	`conf`	SOLVR: Submap Oriented LiDAR-Visual Re-Localisation. ICRA Joshua Knights, Sebastián Barbas Laina, Peyman Moghadam, Stefan Leutenegger
2025	A	`conf`	Scalable Outdoors Autonomous Drone Flight with Visual-Inertial SLAM and Dense Submaps Built without LiDAR. IROS Sebastián Barbas Laina, Simon Boche, Sotiris Papatheodorou, Dimos Tzoumanikas, Simon Schaefer, Hanzhi Chen, Stefan Leutenegger
2025	J	`jnl`	SuperEvent: Cross-Modal Learning of Event-based Keypoint Detection. CoRR Yannick Burkhardt, Simon Schaefer, Stefan Leutenegger
2025	A*	`conf`	Uncertainty-Aware Visual-Inertial SLAM with Volumetric Occupancy Mapping. ICRA Jaehyung Jung, Simon Boche, Sebastián Barbas Laina, Stefan Leutenegger
2025	A*	`conf`	VidBot: Learning Generalizable 3D Actions from In-the-Wild 2D Human Videos for Zero-Shot Robotic Manipulation. CVPR Hanzhi Chen, Boyang Sun, Anran Zhang, Marc Pollefeys, Stefan Leutenegger
2025	J	`jnl`	VidBot: Learning Generalizable 3D Actions from In-the-Wild 2D Human Videos for Zero-Shot Robotic Manipulation. CoRR Hanzhi Chen, Boyang Sun, Anran Zhang, Marc Pollefeys, Stefan Leutenegger
2024	—	`conf`	AEPnP: A Less-Constrained EPnP Solver for Pose Estimation with Anisotropic Scaling. ECCV Workshops (23) Jiaxin Wei, Stefan Leutenegger, Laurent Kneip
2024	A*	`conf`	Control-Barrier-Aided Teleoperation with Visual-Inertial SLAM for Safe MAV Navigation in Complex Environments. ICRA Siqi Zhou, Sotiris Papatheodorou, Stefan Leutenegger, Angela P. Schoellig
2024	J	`jnl`	Control-Barrier-Aided Teleoperation with Visual-Inertial SLAM for Safe MAV Navigation in Complex Environments. CoRR Siqi Zhou, Sotiris Papatheodorou, Stefan Leutenegger, Angela P. Schoellig
2024	J	`jnl`	DiffCAD: Weakly-Supervised Probabilistic CAD Model Retrieval and Alignment from an RGB Image. ACM Trans. Graph. Daoyi Gao, Dávid Rozenberszki, Stefan Leutenegger, Angela Dai
2024	A*	`conf`	Dynamic LiDAR Re-Simulation Using Compositional Neural Fields. CVPR Hanfeng Wu, Xingxing Zuo, Stefan Leutenegger, Or Litany, Konrad Schindler, Shengyu Huang
2024	J	`jnl`	DynamicGlue: Epipolar and Time-Informed Data Association in Dynamic Environments using Graph Neural Networks. CoRR Theresa Huber, Simon Schaefer, Stefan Leutenegger
2024	J	`jnl`	Efficient Submap-based Autonomous MAV Exploration using Visual-Inertial SLAM Configurable for LiDARs or Depth Cameras. CoRR Sotiris Papatheodorou, Simon Boche, Sebastián Barbas Laina, Stefan Leutenegger
2024	J	`jnl`	Event-Based Non-rigid Reconstruction of Low-Rank Parametrized Deformations from Contours. Int. J. Comput. Vis. Yuxuan Xue, Haolong Li, Stefan Leutenegger, Jörg Stückler
2024	A*	`conf`	FuncGrasp: Learning Object-Centric Neural Grasp Functions from Single Annotated Example Object. ICRA Hanzhi Chen, Binbin Xu, Stefan Leutenegger
2024	J	`jnl`	FuncGrasp: Learning Object-Centric Neural Grasp Functions from Single Annotated Example Object. CoRR Hanzhi Chen, Binbin Xu, Stefan Leutenegger
2024	J	`jnl`	GSFusion: Online RGB-D Mapping Where Gaussian Splatting Meets TSDF Fusion. CoRR Jiaxin Wei, Stefan Leutenegger
2024	J	`jnl`	GSFusion: Online RGB-D Mapping Where Gaussian Splatting Meets TSDF Fusion. IEEE Robotics Autom. Lett. Jiaxin Wei, Stefan Leutenegger
2024	A	`conf`	IN-Sight: Interactive Navigation through Sight. IROS Philipp Schoch, Fan Yang, Yuntao Ma, Stefan Leutenegger, Marco Hutter, Quentin Leboutet
2024	J	`jnl`	IN-Sight: Interactive Navigation through Sight. CoRR Philipp Schoch, Fan Yang, Yuntao Ma, Stefan Leutenegger, Marco Hutter, Quentin Leboutet
2024	J	`jnl`	NeRF-VO: Real-Time Sparse Visual Odometry With Neural Radiance Fields. IEEE Robotics Autom. Lett. Jens Naumann, Binbin Xu, Stefan Leutenegger, Xingxing Zuo
2024	A	`conf`	Online Tree Reconstruction and Forest Inventory on a Mobile Robotic System. IROS Leonard Freißmuth, Matías Mattamala, Nived Chebrolu, Simon Schaefer, Stefan Leutenegger, Maurice F. Fallon
2024	J	`jnl`	Online Tree Reconstruction and Forest Inventory on a Mobile Robotic System. CoRR Leonard Freißmuth, Matías Mattamala, Nived Chebrolu, Simon Schaefer, Stefan Leutenegger, Maurice F. Fallon
2024	J	`jnl`	SC-Diff: 3D Shape Completion with Latent Diffusion Models. CoRR Juan D. Galvis, Xingxing Zuo, Simon Schaefer, Stefan Leutenegger
2024	J	`jnl`	SOLVR: Submap Oriented LiDAR-Visual Re-Localisation. CoRR Joshua Knights, Sebastián Barbas Laina, Peyman Moghadam, Stefan Leutenegger
2024	J	`jnl`	Scalable Autonomous Drone Flight in the Forest with Visual-Inertial SLAM and Dense Submaps Built without LiDAR. CoRR Sebastián Barbas Laina, Simon Boche, Sotiris Papatheodorou, Dimos Tzoumanikas, Simon Schaefer, Hanzhi Chen, Stefan Leutenegger
2024	A*	`conf`	Tightly-Coupled LiDAR-Visual-Inertial SLAM and Large-Scale Volumetric Occupancy Mapping. ICRA Simon Boche, Sebastián Barbas Laina, Stefan Leutenegger
2024	J	`jnl`	Tightly-Coupled LiDAR-Visual-Inertial SLAM and Large-Scale Volumetric Occupancy Mapping. CoRR Simon Boche, Sebastián Barbas Laina, Stefan Leutenegger
2024	J	`jnl`	Uncertainty-Aware Visual-Inertial SLAM with Volumetric Occupancy Mapping. CoRR Jaehyung Jung, Simon Boche, Sebastián Barbas Laina, Stefan Leutenegger
2023	J	`jnl`	APnP: A Less-constrained PnP Solver for Pose Estimation with Unknown Anisotropic Scaling or Focal Lengths. CoRR Jiaxin Wei, Stefan Leutenegger, Laurent Kneip
2023	A	`conf`	Accurate and Interactive Visual-Inertial Sensor Calibration with Next-Best-View and Next-Best-Trajectory Suggestion. IROS Christopher L. Choi, Binbin Xu, Stefan Leutenegger
2023	J	`jnl`	Accurate and Interactive Visual-Inertial Sensor Calibration with Next-Best-View and Next-Best-Trajectory Suggestion. CoRR Christopher L. Choi, Binbin Xu, Stefan Leutenegger
2023	J	`jnl`	Anthropomorphic Grasping With Neural Object Shape Completion. IEEE Robotics Autom. Lett. Diego Hidalgo-Carvajal, Hanzhi Chen, Gemma Carolina Bettelani, Jaesug Jung, Melissa Zavaglia, Laura Busse, Abdeldjallil Naceri, Stefan Leutenegger, Sami Haddadin
2023	J	`jnl`	Anthropomorphic Grasping with Neural Object Shape Completion. CoRR Diego Hidalgo-Carvajal, Hanzhi Chen, Gemma Carolina Bettelani, Jaesug Jung, Melissa Zavaglia, Laura Busse, Abdeldjallil Naceri, Stefan Leutenegger, Sami Haddadin
2023	A	`conf`	BodySLAM++: Fast and Tightly-Coupled Visual-Inertial Camera and Human Motion Tracking. IROS Dorian Fritz Henning, Christopher L. Choi, Simon Schaefer, Stefan Leutenegger
2023	J	`jnl`	BodySLAM++: Fast and Tightly-Coupled Visual-Inertial Camera and Human Motion Tracking. CoRR Dorian Fritz Henning, Christopher L. Choi, Simon Schaefer, Stefan Leutenegger
2023	J	`jnl`	DiffCAD: Weakly-Supervised Probabilistic CAD Model Retrieval and Alignment from an RGB Image. CoRR Daoyi Gao, Dávid Rozenberszki, Stefan Leutenegger, Angela Dai
2023	J	`jnl`	Dynamic LiDAR Re-simulation using Compositional Neural Fields. CoRR Hanfeng Wu, Xingxing Zuo, Stefan Leutenegger, Or Litany, Konrad Schindler, Shengyu Huang
2023	A*	`conf`	Finding Things in the Unknown: Semantic Object-Centric Exploration with an MAV. ICRA Sotiris Papatheodorou, Nils Funk, Dimos Tzoumanikas, Christopher L. Choi, Binbin Xu, Stefan Leutenegger
2023	J	`jnl`	Finding Things in the Unknown: Semantic Object-Centric Exploration with an MAV. CoRR Sotiris Papatheodorou, Nils Funk, Dimos Tzoumanikas, Christopher L. Choi, Binbin Xu, Stefan Leutenegger
2023	A	`conf`	GloPro: Globally-Consistent Uncertainty-Aware 3D Human Pose Estimation & Tracking in the Wild. IROS Simon Schaefer, Dorian Fritz Henning, Stefan Leutenegger
2023	J	`jnl`	GloPro: Globally-Consistent Uncertainty-Aware 3D Human Pose Estimation & Tracking in the Wild. CoRR Simon Schaefer, Dorian Fritz Henning, Stefan Leutenegger
2023	J	`jnl`	Incremental Dense Reconstruction From Monocular Video With Guided Sparse Feature Volume Fusion. IEEE Robotics Autom. Lett. Xingxing Zuo, Nan Yang, Nathaniel Merrill, Binbin Xu, Stefan Leutenegger
2023	J	`jnl`	Incremental Dense Reconstruction from Monocular Video with Guided Sparse Feature Volume Fusion. CoRR Xingxing Zuo, Nan Yang, Nathaniel Merrill, Binbin Xu, Stefan Leutenegger
2023	J	`jnl`	Int-HRL: Towards Intention-based Hierarchical Reinforcement Learning. CoRR Anna Penzkofer, Simon Schaefer, Florian Strohm, Mihai Bâce, Stefan Leutenegger, Andreas Bulling
2023	J	`jnl`	NeRF-VO: Real-Time Sparse Visual Odometry with Neural Radiance Fields. CoRR Jens Naumann, Binbin Xu, Stefan Leutenegger, Xingxing Zuo
2023	J	`jnl`	Orientation-Aware Hierarchical, Adaptive-Resolution A* Algorithm for UAV Trajectory Planning. IEEE Robotics Autom. Lett. Nils Funk, Juan Tarrio, Sotiris Papatheodorou, Pablo F. Alcantarilla, Stefan Leutenegger
2023	A*	`conf`	SimpleMapping: Real-Time Visual-Inertial Dense Mapping with Deep Multi-View Stereo. ISMAR Yingye Xin, Xingxing Zuo, Dongyue Lu, Stefan Leutenegger
2023	J	`jnl`	SimpleMapping: Real-Time Visual-Inertial Dense Mapping with Deep Multi-View Stereo. CoRR Yingye Xin, Xingxing Zuo, Dongyue Lu, Stefan Leutenegger
2022	J	`jnl`	Aerial additive manufacturing with multiple autonomous robots. Nat. Ketao Zhang, Pisak Chermprayong, Feng Xiao, Dimos Tzoumanikas, Barrie Dams, Sebastian Kay, Basaran Bahadir Kocer, Alec Burns, Lachlan Orr, Christopher L. Choi, Durgesh Dattatray Darekar, Wenbin Li, Steven Hirschmann, Valentina Soana, Shamsiah Awang Ngah, Sina Sareh, Ashutosh Choubey, Laura Margheri, Vijay M. Pawar, Richard J. Ball, Chris Williams, Paul Shepherd, Stefan Leutenegger, Robert Stuart-Smith, Mirko Kovac
2022	—	`conf`	BodySLAM: Joint Camera Localisation, Mapping, and Human Motion Tracking. ECCV (39) Dorian Henning, Tristan Laidlow, Stefan Leutenegger
2022	J	`jnl`	BodySLAM: Joint Camera Localisation, Mapping, and Human Motion Tracking. CoRR Dorian Henning, Tristan Laidlow, Stefan Leutenegger
2022	J	`jnl`	DeepFusion: Real-Time Dense 3D Reconstruction for Monocular SLAM using Single-View Depth and Gradient Predictions. CoRR Tristan Laidlow, Jan Czarnowski, Stefan Leutenegger
2022	J	`jnl`	Dense RGB-D-Inertial SLAM with Map Deformations. CoRR Tristan Laidlow, Michael Bloesch, Wenbin Li, Stefan Leutenegger
2022	J	`jnl`	Event-Based Vision: A Survey. IEEE Trans. Pattern Anal. Mach. Intell. Guillermo Gallego, Tobi Delbrück, Garrick Orchard, Chiara Bartolozzi, Brian Taba, Andrea Censi, Stefan Leutenegger, Andrew J. Davison, Jörg Conradt, Kostas Daniilidis, Davide Scaramuzza
2022	A	`conf`	Event-based Non-Rigid Reconstruction from Contours. BMVC Yuxuan Xue, Haolong Li, Stefan Leutenegger, Joerg Stueckler
2022	J	`jnl`	Event-based Non-Rigid Reconstruction from Contours. CoRR Yuxuan Xue, Haolong Li, Stefan Leutenegger, Jörg Stückler
2022	A	`conf`	Learning to Complete Object Shapes for Object-level Mapping in Dynamic Scenes. IROS Binbin Xu, Andrew J. Davison, Stefan Leutenegger
2022	J	`jnl`	Learning to Complete Object Shapes for Object-level Mapping in Dynamic Scenes. CoRR Binbin Xu, Andrew J. Davison, Stefan Leutenegger
2022	A*	`conf`	Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimation. CVPR Nathaniel Merrill, Yuliang Guo, Xingxing Zuo, Xinyu Huang, Stefan Leutenegger, Xi Peng, Liu Ren, Guoquan Huang
2022	J	`jnl`	Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimation. CoRR Nathaniel Merrill, Yuliang Guo, Xingxing Zuo, Xinyu Huang, Stefan Leutenegger, Xi Peng, Liu Ren, Guoquan Huang
2022	J	`jnl`	Towards the Probabilistic Fusion of Learned Priors into Standard Pipelines for 3D Reconstruction. CoRR Tristan Laidlow, Jan Czarnowski, Andrea Nicastro, Ronald Clark, Stefan Leutenegger
2022	A	`conf`	Visual-Inertial Multi-Instance Dynamic SLAM with Object-level Relocalisation. IROS Yifei Ren, Binbin Xu, Christopher L. Choi, Stefan Leutenegger
2022	J	`jnl`	Visual-Inertial Multi-Instance Dynamic SLAM with Object-level Relocalisation. CoRR Yifei Ren, Binbin Xu, Christopher L. Choi, Stefan Leutenegger
2022	A	`conf`	Visual-Inertial SLAM with Tightly-Coupled Dropout-Tolerant GPS Fusion. IROS Simon Boche, Xingxing Zuo, Simon Schaefer, Stefan Leutenegger
2022	J	`jnl`	Visual-Inertial SLAM with Tightly-Coupled Dropout-Tolerant GPS Fusion. CoRR Simon Boche, Xingxing Zuo, Simon Schaefer, Stefan Leutenegger
2021	J	`jnl`	Deep Probabilistic Feature-Metric Tracking. IEEE Robotics Autom. Lett. Binbin Xu, Andrew J. Davison, Stefan Leutenegger
2021	A*	`conf`	Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks. ICRA Yiduo Wang, Nils Funk, Milad Ramezani, Sotiris Papatheodorou, Marija Popovic, Marco Camurri, Stefan Leutenegger, Maurice F. Fallon
2021	A*	`conf`	In-Place Scene Labelling and Understanding with Implicit Scene Representation. ICCV Shuaifeng Zhi, Tristan Laidlow, Stefan Leutenegger, Andrew J. Davison
2021	J	`jnl`	In-Place Scene Labelling and Understanding with Implicit Scene Representation. CoRR Shuaifeng Zhi, Tristan Laidlow, Stefan Leutenegger, Andrew J. Davison
2021	J	`jnl`	Multi-Resolution 3D Mapping With Explicit Free Space Representation for Fast and Accurate Mobile Robot Motion Planning. IEEE Robotics Autom. Lett. Nils Funk, Juan Tarrio, Sotiris Papatheodorou, Marija Popovic, Pablo F. Alcantarilla, Stefan Leutenegger
2021	A*	`conf`	SIMstack: A Generative Shape and Instance Model for Unordered Object Stacks. ICCV Zoe Landgraf, Raluca Scona, Tristan Laidlow, Stephen James, Stefan Leutenegger, Andrew J. Davison
2021	J	`jnl`	SIMstack: A Generative Shape and Instance Model for Unordered Object Stacks. CoRR Zoe Landgraf, Raluca Scona, Tristan Laidlow, Stephen James, Stefan Leutenegger, Andrew J. Davison
2021	J	`jnl`	Volumetric Occupancy Mapping With Probabilistic Depth Completion for Robotic Navigation. IEEE Robotics Autom. Lett. Marija Popovic, Florian Thomas, Sotiris Papatheodorou, Nils Funk, Teresa A. Vidal-Calleja, Stefan Leutenegger
2020	—	`conf`	Aerial Manipulation Using Hybrid Force and Position NMPC Applied to Aerial Writing. Robotics: Science and Systems Dimos Tzoumanikas, Felix Graule, Qingyue Yan, Dhruv Shah, Marija Popovic, Stefan Leutenegger
2020	J	`jnl`	Aerial Manipulation Using Hybrid Force and Position NMPC Applied to Aerial Writing. CoRR Dimos Tzoumanikas, Felix Graule, Qingyue Yan, Dhruv Shah, Marija Popovic, Stefan Leutenegger
2020	A*	`conf`	Bundle Adjustment on a Graph Processor. CVPR Joseph Ortiz, Mark Pupilli, Stefan Leutenegger, Andrew J. Davison
2020	J	`jnl`	Bundle Adjustment on a Graph Processor. CoRR Joseph Ortiz, Mark Pupilli, Stefan Leutenegger, Andrew J. Davison
2020	A*	`conf`	Comparing View-Based and Map-Based Semantic Labelling in Real-Time SLAM. ICRA Zoe Landgraf, Fabian Falck, Michael Bloesch, Stefan Leutenegger, Andrew J. Davison
2020	J	`jnl`	Comparing View-Based and Map-Based Semantic Labelling in Real-Time SLAM. CoRR Zoe Landgraf, Fabian Falck, Michael Bloesch, Stefan Leutenegger, Andrew J. Davison
2020	J	`jnl`	Deep Probabilistic Feature-metric Tracking. CoRR Binbin Xu, Andrew J. Davison, Stefan Leutenegger
2020	J	`jnl`	Efficient Volumetric Mapping Using Depth Completion With Uncertainty for Robotic Navigation. CoRR Marija Popovic, Florian Thomas, Sotiris Papatheodorou, Nils Funk, Teresa A. Vidal-Calleja, Stefan Leutenegger
2020	J	`jnl`	Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks. CoRR Yiduo Wang, Nils Funk, Milad Ramezani, Sotiris Papatheodorou, Marija Popovic, Marco Camurri, Stefan Leutenegger, Maurice F. Fallon
2020	A*	`conf`	Fast Frontier-based Information-driven Autonomous Exploration with an MAV. ICRA Anna Dai, Sotiris Papatheodorou, Nils Funk, Dimos Tzoumanikas, Stefan Leutenegger
2020	J	`jnl`	Fast Frontier-based Information-driven Autonomous Exploration with an MAV. CoRR Anna Dai, Sotiris Papatheodorou, Nils Funk, Dimos Tzoumanikas, Stefan Leutenegger
2020	J	`jnl`	Multi-Resolution 3D Mapping with Explicit Free Space Representation for Fast and Accurate Mobile Robot Motion Planning. CoRR Nils Funk, Juan Tarrio, Sotiris Papatheodorou, Marija Popovic, Pablo F. Alcantarilla, Stefan Leutenegger
2020	A*	`conf`	Nonlinear MPC with Motor Failure Identification and Recovery for Safe and Aggressive Multicopter Flight. ICRA Dimos Tzoumanikas, Qingyue Yan, Stefan Leutenegger
2020	J	`jnl`	Nonlinear MPC with Motor Failure Identification and Recovery for Safe and Aggressive Multicopter Flight. CoRR Dimos Tzoumanikas, Qingyue Yan, Stefan Leutenegger
2020	—	`conf`	Towards Bounding-Box Free Panoptic Segmentation. GCPR Ujwal Bonde, Pablo F. Alcantarilla, Stefan Leutenegger
2020	J	`jnl`	Towards Bounding-Box Free Panoptic Segmentation. CoRR Ujwal Bonde, Pablo F. Alcantarilla, Stefan Leutenegger
2020	A*	`conf`	Towards the Probabilistic Fusion of Learned Priors into Standard Pipelines for 3D Reconstruction. ICRA Tristan Laidlow, Jan Czarnowski, Andrea Nicastro, Ronald Clark, Stefan Leutenegger
2019	—	`conf`	Adaptive-Resolution Octree-Based Volumetric SLAM. 3DV Emanuele Vespa, Nils Funk, Paul H. J. Kelly, Stefan Leutenegger
2019	J	`jnl`	Bioinspired design of a landing system with soft shock absorbers for autonomous aerial robots. J. Field Robotics Ketao Zhang, Pisak Chermprayong, Dimos Tzoumanikas, Wenbin Li, Marius Grimm, Mariusz Smentoch, Stefan Leutenegger, Mirko Kovac
2019	A*	`conf`	Characterizing Visual Localization and Mapping Datasets. ICRA Sajad Saeedi, Eduardo D. C. Carvalho, Wenbin Li, Dimos Tzoumanikas, Stefan Leutenegger, Paul H. J. Kelly, Andrew J. Davison
2019	A*	`conf`	DeepFusion: Real-Time Dense 3D Reconstruction for Monocular SLAM using Single-View Depth and Gradient Predictions. ICRA Tristan Laidlow, Jan Czarnowski, Stefan Leutenegger
2019	J	`jnl`	Event-based Vision: A Survey. CoRR Guillermo Gallego, Tobi Delbruck, Garrick Orchard, Chiara Bartolozzi, Brian Taba, Andrea Censi, Stefan Leutenegger, Andrew J. Davison, Jörg Conradt, Kostas Daniilidis, Davide Scaramuzza
2019	J	`jnl`	Fully autonomous micro air vehicle flight and landing on a moving target using visual-inertial estimation and model-predictive control. J. Field Robotics Dimos Tzoumanikas, Wenbin Li, Marius Grimm, Ketao Zhang, Mirko Kovac, Stefan Leutenegger
2019	A*	`conf`	KO-Fusion: Dense Visual SLAM with Tightly-Coupled Kinematic and Odometric Tracking. ICRA Charlie Houseago, Michael Bloesch, Stefan Leutenegger
2019	A*	`conf`	Learning Meshes for Dense Visual SLAM. ICCV Michael Bloesch, Tristan Laidlow, Ronald Clark, Stefan Leutenegger, Andrew J. Davison
2019	A*	`conf`	MID-Fusion: Octree-based Object-Level Multi-Instance Dynamic SLAM. ICRA Binbin Xu, Wenbin Li, Dimos Tzoumanikas, Michael Bloesch, Andrew J. Davison, Stefan Leutenegger
2019	A*	`conf`	SceneCode: Monocular Dense Semantic Reconstruction Using Learned Encoded Scene Representations. CVPR Shuaifeng Zhi, Michael Bloesch, Stefan Leutenegger, Andrew J. Davison
2019	J	`jnl`	SceneCode: Monocular Dense Semantic Reconstruction using Learned Encoded Scene Representations. CoRR Shuaifeng Zhi, Michael Bloesch, Stefan Leutenegger, Andrew J. Davison
2019	J	`jnl`	Special Issue on Machine Vision. Int. J. Comput. Vis. Tae-Kyun Kim, Stefanos Zafeiriou, Ben Glocker, Stefan Leutenegger
2019	A*	`conf`	X-Section: Cross-Section Prediction for Enhanced RGB-D Fusion. ICCV Andrea Nicastro, Ronald Clark, Stefan Leutenegger
2019	J	`jnl`	X-Section: Cross-section Prediction for Enhanced RGBD Fusion. CoRR Andrea Nicastro, Ronald Clark, Stefan Leutenegger
2018	A*	`conf`	CodeSLAM - Learning a Compact, Optimisable Representation for Dense Visual SLAM. CVPR Michael Bloesch, Jan Czarnowski, Ronald Clark, Stefan Leutenegger, Andrew J. Davison
2018	J	`jnl`	CodeSLAM - Learning a Compact, Optimisable Representation for Dense Visual SLAM. CoRR Michael Bloesch, Jan Czarnowski, Ronald Clark, Stefan Leutenegger, Andrew J. Davison
2018	J	`jnl`	Efficient Octree-Based Volumetric SLAM Supporting Signed-Distance and Occupancy Mapping. IEEE Robotics Autom. Lett. Emanuele Vespa, Nikolay Nikolov, Marius Grimm, Luigi Nardi, Paul H. J. Kelly, Stefan Leutenegger
2018	—	`conf`	Fusion++: Volumetric Object-Level SLAM. 3DV John McCormac, Ronald Clark, Michael Bloesch, Andrew J. Davison, Stefan Leutenegger
2018	J	`jnl`	Fusion++: Volumetric Object-Level SLAM. CoRR John McCormac, Ronald Clark, Michael Bloesch, Andrew J. Davison, Stefan Leutenegger
2018	A	`conf`	InteriorNet: Mega-scale Multi-sensor Photo-realistic Indoor Scenes Dataset. BMVC Wenbin Li, Sajad Saeedi, John McCormac, Ronald Clark, Dimos Tzoumanikas, Qing Ye, Yuzhong Huang, Rui Tang, Stefan Leutenegger
2018	J	`jnl`	InteriorNet: Mega-scale Multi-sensor Photo-realistic Indoor Scenes Dataset. CoRR Wenbin Li, Sajad Saeedi, John McCormac, Ronald Clark, Dimos Tzoumanikas, Qing Ye, Yuzhong Huang, Rui Tang, Stefan Leutenegger
2018	J	`jnl`	LS-Net: Learning to Solve Nonlinear Least Squares for Monocular Stereo. CoRR Ronald Clark, Michael Bloesch, Jan Czarnowski, Stefan Leutenegger, Andrew J. Davison
2018	—	`conf`	Learning to Solve Nonlinear Least Squares for Monocular Stereo. ECCV (8) Ronald Clark, Michael Bloesch, Jan Czarnowski, Stefan Leutenegger, Andrew J. Davison
2018	J	`jnl`	MID-Fusion: Octree-based Object-Level Multi-Instance Dynamic SLAM. CoRR Binbin Xu, Wenbin Li, Dimos Tzoumanikas, Michael Bloesch, Andrew J. Davison, Stefan Leutenegger
2018	J	`jnl`	Towards an Embodied Semantic Fovea: Semantic 3D scene reconstruction from ego-centric eye-tracker videos. CoRR Mickey Li, Noyan Songur, Pavel Orlov, Stefan Leutenegger, A. Aldo Faisal
2017	A	`conf`	Dense RGB-D-inertial SLAM with map deformations. IROS Tristan Laidlow, Michael Bloesch, Wenbin Li, Stefan Leutenegger
2017	J	`jnl`	Design of small hand-launched solar-powered UAVs: From concept study to a multi-day world endurance record flight. J. Field Robotics Philipp Oettershagen, Amir Melzer, Thomas Mantel, Konrad Rudin, Thomas Stastny, Bartosz Wawrzacz, Timo Hinzmann, Stefan Leutenegger, Kostas Alexis, Roland Siegwart
2017	A*	`conf`	Monocular visual odometry: Sparse joint optimisation or dense alternation? ICRA Lukas Platinsky, Andrew J. Davison, Stefan Leutenegger
2017	A*	`conf`	Room layout estimation from rapid omnidirectional exploration. ICRA Robert Lukierski, Stefan Leutenegger, Andrew J. Davison
2017	A*	`conf`	SceneNet RGB-D: Can 5M Synthetic Images Beat Generic ImageNet Pre-training on Indoor Segmentation? ICCV John McCormac, Ankur Handa, Stefan Leutenegger, Andrew J. Davison
2017	—	`conf`	Semantic Texture for Robust Dense Tracking. ICCV Workshops Jan Czarnowski, Stefan Leutenegger, Andrew J. Davison
2017	J	`jnl`	Semantic Texture for Robust Dense Tracking. CoRR Jan Czarnowski, Stefan Leutenegger, Andrew J. Davison
2017	A*	`conf`	SemanticFusion: Dense 3D semantic mapping with convolutional neural networks. ICRA John McCormac, Ankur Handa, Andrew J. Davison, Stefan Leutenegger
2016	J	`jnl`	A Primer on the Differential Calculus of 3D Orientations. CoRR Michael Bloesch, Hannes Sommer, Tristan Laidlow, Michael Burri, Gabriel Nützi, Peter Fankhauser, Dario Bellicoso, Christian Gehring, Stefan Leutenegger, Marco Hutter, Roland Siegwart
2016	J	`jnl`	Deep Learning a Grasp Function for Grasping under Gripper Pose Uncertainty. CoRR Edward Johns, Stefan Leutenegger, Andrew J. Davison
2016	A	`conf`	Deep learning a grasp function for grasping under gripper pose uncertainty. IROS Edward Johns, Stefan Leutenegger, Andrew J. Davison
2016	J	`jnl`	ElasticFusion: Real-time dense SLAM and light source estimation. Int. J. Robotics Res. Thomas Whelan, Renato F. Salas-Moreno, Ben Glocker, Andrew J. Davison, Stefan Leutenegger
2016	—	`ch.`	Flying Robots. Springer Handbook of Robotics, 2nd Ed. Stefan Leutenegger, Christoph Hürzeler, Amanda K. Stowers, Kostas Alexis, Markus W. Achtelik, David Lentink, Paul Y. Oh, Roland Siegwart
2016	—	`conf`	Monocular, Real-Time Surface Reconstruction Using Dynamic Level of Detail. 3DV Jacek Zienkiewicz, Akis Tsiotsios, Andrew J. Davison, Stefan Leutenegger
2016	J	`jnl`	Pairwise Decomposition of Image Sequences for Active Multi-View Recognition. CoRR Edward Johns, Stefan Leutenegger, Andrew J. Davison
2016	A*	`conf`	Pairwise Decomposition of Image Sequences for Active Multi-view Recognition. CVPR Edward Johns, Stefan Leutenegger, Andrew J. Davison
2016	—	`conf`	Real-Time 3D Reconstruction and 6-DoF Tracking with an Event Camera. ECCV (6) Hanme Kim, Stefan Leutenegger, Andrew J. Davison
2016	A	`conf`	Real-time height map fusion using differentiable rendering. IROS Jacek Zienkiewicz, Andrew J. Davison, Stefan Leutenegger
2016	J	`jnl`	SceneNet RGB-D: 5M Photorealistic Images of Synthetic Indoor Trajectories with Ground Truth. CoRR John McCormac, Ankur Handa, Stefan Leutenegger, Andrew J. Davison
2016	J	`jnl`	SemanticFusion: Dense 3D Semantic Mapping with Convolutional Neural Networks. CoRR John McCormac, Ankur Handa, Andrew J. Davison, Stefan Leutenegger
2016	A*	`conf`	Simultaneous Optical Flow and Intensity Estimation from an Event Camera. CVPR Patrick Bardow, Andrew J. Davison, Stefan Leutenegger
2015	A*	`conf`	A solar-powered hand-launchable UAV for low-altitude multi-day continuous flight. ICRA Philipp Oettershagen, Amir Melzer, Thomas Mantel, Konrad Rudin, Rainer Lotz, Dieter Siebenmann, Stefan Leutenegger, Kostas Alexis, Roland Siegwart
2015	—	`conf`	ElasticFusion: Dense SLAM Without A Pose Graph. Robotics: Science and Systems Thomas Whelan, Stefan Leutenegger, Renato F. Salas-Moreno, Ben Glocker, Andrew J. Davison
2015	J	`jnl`	Keyframe-based visual-inertial odometry using nonlinear optimization. Int. J. Robotics Res. Stefan Leutenegger, Simon Lynen, Michael Bosse, Roland Siegwart, Paul Timothy Furgale
2015	J	`jnl`	Place Recognition with Event-based Cameras and a Neural Implementation of SeqSLAM. CoRR Michael Milford, Hanme Kim, Michael Mangan, Stefan Leutenegger, Tom Stone, Barbara Webb, Andrew J. Davison
2015	—	`conf`	Rapid free-space mapping from a single omnidirectional camera. ECMR Robert Lukierski, Stefan Leutenegger, Andrew J. Davison
2014	A*	`conf`	A synchronized visual-inertial sensor system with FPGA pre-processing for accurate real-time SLAM. ICRA Janosch Nikolic, Joern Rehder, Michael Burri, Pascal Gohl, Stefan Leutenegger, Paul Timothy Furgale, Roland Siegwart
2014	—	`conf`	Explicit model predictive control and L1-navigation strategies for fixed-wing UAV path tracking. MED Philipp Oettershagen, Amir Melzer, Stefan Leutenegger, Kostas Alexis, Roland Siegwart
2014	C	`conf`	Robust state estimation for small unmanned airplanes. CCA Stefan Leutenegger, Amir Melzer, Kostas Alexis, Roland Siegwart
2013	A	`conf`	Design and control of a spherical omnidirectional blimp. IROS Michael Burri, Laura Gasser, M. Käch, Matthias Krebs, S. Laube, Anton Ledergerber, Daniel Meier, R. Michaud, Lukas Mosimann, L. Müri, Claudio Ruch, Andreas Schaffner, N. Vuilliomenet, Johannes Weichart, Konrad Rudin, Stefan Leutenegger, Javier Alonso-Mora, Roland Siegwart, Paul A. Beardsley
2013	—	`conf`	Ground and aerial robots as an aid to alpine search and rescue: Initial SHERPA outcomes. SSRR Lorenzo Marconi, Stefan Leutenegger, Simon Lynen, Michael Burri, Roberto Naldi, Claudio Melchiorri
2013	—	`conf`	Keyframe-Based Visual-Inertial SLAM using Nonlinear Optimization. Robotics: Science and Systems Stefan Leutenegger, Paul Timothy Furgale, Vincent Rabaud, Margarita Chli, Kurt Konolige, Roland Siegwart
2012	A*	`conf`	A low-cost and fail-safe Inertial Navigation System for airplanes. ICRA Stefan Leutenegger, Roland Siegwart
2012	—	`conf`	State Estimation for Legged Robots - Consistent Fusion of Leg Kinematics and IMU. Robotics: Science and Systems Michael Blösch, Marco Hutter, Mark A. Hoepflinger, Stefan Leutenegger, Christian Gehring, C. David Remy, Roland Siegwart
2012	—	`conf`	The SHERPA project: Smart collaboration between humans and ground-aerial robots for improving rescuing activities in alpine environments. SSRR Lorenzo Marconi, Claudio Melchiorri, Michael Beetz, Dejan Pangercic, Roland Siegwart, Stefan Leutenegger, Raffaella Carloni, Stefano Stramigioli, Herman Bruyninckx, Patrick Doherty, A. Kleiner, Vincenzo Lippiello, Alberto Finzi, Bruno Siciliano, Andrea Sala, Nicola Tomatis
2011	A*	`conf`	BRISK: Binary Robust invariant scalable keypoints. ICCV Stefan Leutenegger, Margarita Chli, Roland Siegwart
2011	A	`conf`	Modeling and decoupling control of the coax micro helicopter. IROS Peter Fankhauser, Samir Bouabdallah, Stefan Leutenegger, Roland Siegwart
2011	J	`jnl`	Solar Airplane Conceptual Design and Performance Estimation - What Size to Choose and What Endurance to Expect. J. Intell. Robotic Syst. Stefan Leutenegger, Mathieu Jabas, Roland Siegwart
2008	A	`conf`	New design of the steering mechanism for a mini coaxial helicopter. IROS Christian Bermes, Stefan Leutenegger, Samir Bouabdallah, Dario Schafroth, Roland Siegwart
2007	A*	`conf`	Flagella-like Propulsion for Microrobots Using a Nanocoil and a Rotating Electromagnetic Field. ICRA Dominik J. Bell, Stefan Leutenegger, K. Magnus Hammar, Lixin Dong, Bradley J. Nelson