Sebastian A. Scherer
155 publications
17 venues
H Index 38
Affiliation
Carnegie Mellon University, Pittsburgh, USAUniversity of T bingen, Germany
Links
| Name | Venue | Year | citations |
|---|---|---|---|
Scalable Benchmarking and Robust Learning for Noise-Free Ego-Motion and 3D Reconstruction from Noisy Video.
|
ICLR | 2025 | 8 |
| Tartan IMU: A Light Foundation Model for Inertial Positioning in Robotics.
|
CVPR | 2025 | 11 |
| BETTY Dataset: A Multi-Modal Dataset for Full-Stack Autonomy.
|
ICRA | 2025 | 0 |
| TartanGround: A Large-Scale Dataset for Ground Robot Perception and Navigation.
|
IROS | 2025 | 11 |
| PIPE Planner: Pathwise Information Gain with Map Predictions for Indoor Robot Exploration.
|
IROS | 2025 | 6 |
| A Synchronized Task Formulation for Robotic Convoy Operations.
|
IEEE Robotics and Automation Letters | 2025 | 1 |
| Hierarchical Planning for Long-Horizon Multi-Target Tracking Under Target Motion Uncertainty.
|
IEEE Robotics and Automation Letters | 2025 | 0 |
| AirIO: Learning Inertial Odometry With Enhanced IMU Feature Observability.
|
IEEE Robotics and Automation Letters | 2025 | 16 |
| RayFronts: Open-Set Semantic Ray Frontiers for Online Scene Understanding and Exploration.
|
IROS | 2025 | 15 |
| SALON: Self-supervised Adaptive Learning for Off-road Navigation.
|
ICRA | 2025 | 0 |
| SuperLoc: The Key to Robust Lidar-Inertial Localization Lies in Predicting Alignment Risks Superodometry.Com/SuperLoc.
|
ICRA | 2025 | 0 |
| MapEx: Indoor Structure Exploration with Probabilistic Information Gain from Global Map Predictions.
|
ICRA | 2025 | 0 |
| MAC-VO: Metrics-Aware Covariance for Learning-Based Stereo Visual Odometry mac-vo.github.io.
|
ICRA | 2025 | 0 |
| MAC-Ego3D: Multi-Agent Gaussian Consensus for Real-Time Collaborative Ego-Motion and Photorealistic 3D Reconstruction.
|
CVPR | 2025 | 0 |
| Learning Generalizable Feature Fields for Mobile Manipulation.
|
IROS | 2025 | 0 |
| FIReStereo: Forest InfraRed Stereo Dataset for UAS Depth Perception in Visually Degraded Environments.
|
IEEE Robotics and Automation Letters | 2025 | 0 |
| Flying Calligrapher: Contact-Aware Motion and Force Planning and Control for Aerial Manipulation.
|
IEEE Robotics and Automation Letters | 2024 | 20 |
| UNRealNet: Learning Uncertainty-Aware Navigation Features from High-Fidelity Scans of Real Environments.
|
ICRA | 2024 | 7 |
| TartanDrive 2.0: More Modalities and Better Infrastructure to Further Self-Supervised Learning Research in Off-Road Driving Tasks.
|
ICRA | 2024 | 28 |
| LogiCity: Advancing Neuro-Symbolic AI with Abstract Urban Simulation.
|
NIPS/NeurIPS | 2024 | 15 |
| AirShot: Efficient Few-Shot Detection for Autonomous Exploration.
|
IROS | 2024 | 14 |
| Geometry-Informed Distance Candidate Selection for Adaptive Lightweight Omnidirectional Stereo Vision with Fisheye Images.
|
ICRA | 2024 | 0 |
| I2D-Loc++: Camera Pose Tracking in LiDAR Maps With Multi-View Motion Flows.
|
IEEE Robotics and Automation Letters | 2024 | 4 |
| Velociraptor: Leveraging Visual Foundation Models for Label-Free, Risk-Aware Off-Road Navigation.
|
CoRL | 2024 | 8 |
| Map It Anywhere: Empowering BEV Map Prediction using Large-scale Public Datasets.
|
NIPS/NeurIPS | 2024 | 5 |
| Targeted Image Transformation for Improving Robustness in Long Range Aircraft Detection.
|
IROS | 2024 | 3 |
| Aerial Interaction with Tactile Sensing.
|
ICRA | 2024 | 0 |
| SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM.
|
CVPR | 2024 | 0 |
| SubT-MRS Dataset: Pushing SLAM Towards All-weather Environments.
|
CVPR | 2024 | 0 |
| Greedy Perspectives: Multi-Drone View Planning for Collaborative Perception in Cluttered Environments.
|
IROS | 2024 | 0 |
| Learning-on-the-Drive: Self-supervised Adaptive Long-range Perception for High-speed Offroad Driving.
|
IROS | 2024 | 0 |
| Time-Optimal Path Planning in a Constant Wind for Uncrewed Aerial Vehicles Using Dubins Set Classification.
|
IEEE Robotics and Automation Letters | 2024 | 0 |
| Multi-Robot Multi-Room Exploration With Geometric Cue Extraction and Circular Decomposition.
|
IEEE Robotics and Automation Letters | 2024 | 0 |
| SoRTS: Learned Tree Search for Long Horizon Social Robot Navigation.
|
IEEE Robotics and Automation Letters | 2024 | 0 |
| AnyLoc: Towards Universal Visual Place Recognition.
|
IEEE Robotics and Automation Letters | 2024 | 0 |
| Multi-robot, multi-sensor exploration of multifarious environments with full mission aerial autonomy.
|
IJRR | 2024 | 0 |
| WIT-UAS: A Wildland-Fire Infrared Thermal Dataset to Detect Crew Assets from Aerial Views.
|
IROS | 2023 | 11 |
| Learning Risk-Aware Costmaps via Inverse Reinforcement Learning for Off-Road Navigation.
|
ICRA | 2023 | 34 |
| MUI-TARE: Cooperative Multi-Agent Exploration With Unknown Initial Position.
|
IEEE Robotics and Automation Letters | 2023 | 24 |
| VoxDet: Voxel Learning for Novel Instance Detection.
|
NIPS/NeurIPS | 2023 | 9 |
| Image-Based Visual Servo Control for Aerial Manipulation Using a Fully-Actuated UAV.
|
IROS | 2023 | 18 |
| Follow The Rules: Online Signal Temporal Logic Tree Search for Guided Imitation Learning in Stochastic Domains.
|
ICRA | 2023 | 0 |
| AirTrack: Onboard Deep Learning Framework for Long-Range Aircraft Detection and Tracking.
|
ICRA | 2023 | 0 |
| DytanVO: Joint Refinement of Visual Odometry and Motion Segmentation in Dynamic Environments.
|
ICRA | 2023 | 0 |
| How Does It Feel? Self-Supervised Costmap Learning for Off-Road Vehicle Traversability.
|
ICRA | 2023 | 0 |
| PyPose: A Library for Robot Learning with Physics-based Optimization.
|
CVPR | 2023 | 0 |
| 360FusionNeRF: Panoramic Neural Radiance Fields with Joint Guidance.
|
IROS | 2023 | 0 |
| PVT++: A Simple End-to-End Latency-Aware Visual Tracking Framework.
|
ICCV | 2023 | 0 |
| SphereVLAD++: Attention-Based and Signal-Enhanced Viewpoint Invariant Descriptor.
|
IEEE Robotics and Automation Letters | 2023 | 0 |
| Off-Policy Evaluation With Online Adaptation for Robot Exploration in Challenging Environments.
|
IEEE Robotics and Automation Letters | 2023 | 0 |
| When Geometry is not Enough: Using Reflector Markers in Lidar SLAM.
|
IROS | 2022 | 7 |
| Towards Robust Visual-Inertial Odometry with Multiple Non-Overlapping Monocular Cameras.
|
IROS | 2022 | 11 |
| Robotic Interestingness via Human-Informed Few-Shot Object Detection.
|
IROS | 2022 | 4 |
| Design, Modeling and Control for a Tilt-rotor VTOL UAV in the Presence of Actuator Failure.
|
IROS | 2022 | 34 |
| TIGRIS: An Informed Sampling-based Algorithm for Informative Path Planning.
|
IROS | 2022 | 27 |
| Resilient Multi-Sensor Exploration of Multifarious Environments with a Team of Aerial Robots.
|
RSS | 2022 | 31 |
| TartanDrive: A Large-Scale Dataset for Learning Off-Road Dynamics Models.
|
ICRA | 2022 | 74 |
| Unified Representation of Geometric Primitives for Graph-SLAM Optimization Using Decomposed Quadrics.
|
ICRA | 2022 | 0 |
| AirDOS: Dynamic SLAM benefits from Articulated Objects.
|
ICRA | 2022 | 0 |
| AirLoop: Lifelong Loop Closure Detection.
|
ICRA | 2022 | 0 |
| Predicting Like A Pilot: Dataset and Method to Predict Socially-Aware Aircraft Trajectories in Non-Towered Terminal Airspace.
|
ICRA | 2022 | 0 |
| AirDet: Few-Shot Detection Without Fine-Tuning for Autonomous Exploration.
|
ECCV | 2022 | 0 |
| Lifelong Graph Learning.
|
CVPR | 2022 | 0 |
| AirObject: A Temporally Evolving Graph Embedding for Object Identification.
|
CVPR | 2022 | 0 |
| AirCode: A Robust Object Encoding Method.
|
IEEE Robotics and Automation Letters | 2022 | 0 |
| AdaFusion: Visual-LiDAR Fusion With Adaptive Weights for Place Recognition.
|
IEEE Robotics and Automation Letters | 2022 | 0 |
| RGB-D SLAM in Dynamic Environments Using Point Correlations.
|
TPAMI | 2022 | 0 |
| Super Odometry: IMU-centric LiDAR-Visual-Inertial Estimator for Challenging Environments.
|
IROS | 2021 | 192 |
| 3D Segmentation Learning From Sparse Annotations and Hierarchical Descriptors.
|
IEEE Robotics and Automation Letters | 2021 | 3 |
| CVaR-based Flight Energy Risk Assessment for Multirotor UAVs using a Deep Energy Model.
|
ICRA | 2021 | 28 |
| Improving Off-road Planning Techniques with Learned Costs from Physical Interactions.
|
ICRA | 2021 | 18 |
| 3D Human Reconstruction in the Wild with Collaborative Aerial Cameras.
|
IROS | 2021 | 25 |
| Graph-based Topological Exploration Planning in Large-scale 3D Environments.
|
ICRA | 2021 | 44 |
| Rough Terrain Navigation Using Divergence Constrained Model-Based Reinforcement Learning.
|
CoRL | 2021 | 14 |
| i3dLoc: Image-to-range Cross-domain Localization Robust to Inconsistent Environmental Conditions.
|
RSS | 2021 | 23 |
| ORStereo: Occlusion-Aware Recurrent Stereo Matching for 4K-Resolution Images.
|
IROS | 2021 | 12 |
| Real-Time Ellipse Detection for Robotics Applications.
|
IEEE Robotics and Automation Letters | 2021 | 23 |
| DSVP: Dual-Stage Viewpoint Planner for Rapid Exploration by Dynamic Expansion.
|
IROS | 2021 | 91 |
| Batteries, camera, action! Learning a semantic control space for expressive robot cinematography.
|
ICRA | 2021 | 0 |
| Do You See What I See? Coordinating Multiple Aerial Cameras for Robot Cinematography.
|
ICRA | 2021 | 0 |
| ALFA: A dataset for UAV fault and anomaly detection.
|
IJRR | 2021 | 0 |
| Human-in-the-loop Planning and Monitoring of Swarm Search and Service Missions.
|
AAMAS | 2020 | 0 |
| A Robust Multi-Stereo Visual-Inertial Odometry Pipeline.
|
IROS | 2020 | 13 |
| Wind and the City: Utilizing UAV-Based In-Situ Measurements for Estimating Urban Wind Fields.
|
IROS | 2020 | 20 |
| Efficient Multiresolution Scrolling Grid for Stereo Vision-based MAV Obstacle Avoidance.
|
IROS | 2020 | 0 |
| Visual Memorability for Robotic Interestingness via Unsupervised Online Learning.
|
ECCV | 2020 | 22 |
| Monocular Camera Localization in Prior LiDAR Maps with 2D-3D Line Correspondences.
|
IROS | 2020 | 75 |
| TartanAir: A Dataset to Push the Limits of Visual SLAM.
|
IROS | 2020 | 585 |
| TartanVO: A Generalizable Learning-based VO.
|
CoRL | 2020 | 196 |
| TP-TIO: A Robust Thermal-Inertial Odometry with Deep ThermalPoint.
|
IROS | 2020 | 55 |
| Efficient Trajectory Library Filtering for Quadrotor Flight in Unknown Environments.
|
IROS | 2020 | 6 |
| LiDAR-enhanced Structure-from-Motion.
|
ICRA | 2020 | 0 |
| Deep-Learning Assisted High-Resolution Binocular Stereo Depth Reconstruction.
|
ICRA | 2020 | 0 |
| Learning Visuomotor Policies for Aerial Navigation Using Cross-Modal Representations.
|
IROS | 2020 | 0 |
| Towards a Robust Aerial Cinematography Platform: Localizing and Tracking Moving Targets in Unstructured Environments.
|
IROS | 2019 | 86 |
| Improving Learning-based Ego-motion Estimation with Homomorphism-based Losses and Drift Correction.
|
IROS | 2019 | 19 |
| A Robust Laser-Inertial Odometry and Mapping Method for Large-Scale Highway Environments.
|
IROS | 2019 | 86 |
| Multi-view Reconstruction of Wires using a Catenary Model.
|
ICRA | 2019 | 3 |
| A Joint Optimization Approach of LiDAR-Camera Fusion for Accurate Dense 3-D Reconstructions.
|
IEEE Robotics and Automation Letters | 2019 | 60 |
| Estimating the Localizability in Tunnel-like Environments using LiDAR and UWB.
|
ICRA | 2019 | 83 |
| Improved Generalization of Heading Direction Estimation for Aerial Filming Using Semi-Supervised Regression.
|
ICRA | 2019 | 7 |
| Can a Robot Become a Movie Director? Learning Artistic Principles for Aerial Cinematography.
|
IROS | 2019 | 51 |
| Automatic Real-time Anomaly Detection for Autonomous Aerial Vehicles.
|
ICRA | 2019 | 53 |
| Monocular Object and Plane SLAM in Structured Environments.
|
IEEE Robotics and Automation Letters | 2019 | 0 |
| Determining Effective Swarm Sizes for Multi-Job Type Missions.
|
IROS | 2018 | 8 |
| DROAN - Disparity-Space Representation for Obstacle Avoidance: Enabling Wire Mapping & Avoidance.
|
IROS | 2018 | 6 |
| Integrating kinematics and environment context into deep inverse reinforcement learning for predicting off-road vehicle trajectories.
|
CoRL | 2018 | 46 |
| Joint Point Cloud and Image Based Localization for Efficient Inspection in Mixed Reality.
|
IROS | 2018 | 6 |
| Bayesian Active Edge Evaluation on Expensive Graphs.
|
IJCAI | 2018 | 0 |
| Data-driven planning via imitation learning.
|
IJRR | 2018 | 0 |
| Adaptive Information Gathering via Imitation Learning.
|
RSS | 2017 | 23 |
| Wire detection using synthetic data and dilated convolutional networks for unmanned aerial vehicles.
|
IROS | 2017 | 57 |
| Near-Optimal Edge Evaluation in Explicit Generalized Binomial Graphs.
|
NIPS/NeurIPS | 2017 | 16 |
| Learning Heuristic Search via Imitation.
|
CoRL | 2017 | 92 |
| Multi-camera visual SLAM for autonomous navigation of micro aerial vehicles.
|
Robotics and Autonomous Systems | 2017 | 83 |
| Semantic 3D occupancy mapping through efficient high order CRFs.
|
IROS | 2017 | 83 |
| A κITE in the wind: Smooth trajectory optimization in a moving reference frame.
|
ICRA | 2017 | 14 |
| Looking forward: A semantic mapping system for scouting with micro-aerial vehicles.
|
IROS | 2017 | 18 |
| Direct monocular odometry using points and lines.
|
ICRA | 2017 | 63 |
| Improving Stochastic Policy Gradients in Continuous Control with Deep Reinforcement Learning using the Beta Distribution.
|
ICML | 2017 | 206 |
| Randomized algorithm for informative path planning with budget constraints.
|
ICRA | 2017 | 41 |
| Robust localization and localizability estimation with a rotating laser scanner.
|
ICRA | 2017 | 93 |
| DROAN - Disparity-space representation for obstacle AvoidaNce.
|
IROS | 2017 | 0 |
| Real-time 3D scene layout from a single image using Convolutional Neural Networks.
|
ICRA | 2016 | 36 |
| Regionally accelerated batch informed trees (RABIT*): A framework to integrate local information into optimal path planning.
|
ICRA | 2016 | 110 |
| List prediction applied to motion planning.
|
ICRA | 2016 | 8 |
| Pop-up SLAM: Semantic monocular plane SLAM for low-texture environments.
|
IROS | 2016 | 143 |
| The planner ensemble: Motion planning by executing diverse algorithms.
|
ICRA | 2015 | 15 |
| Online safety verification of trajectories for unmanned flight with offline computed robust invariant sets.
|
IROS | 2015 | 45 |
| The Dynamics Projection Filter (DPF) - real-time nonlinear trajectory optimization using projection operators.
|
ICRA | 2015 | 5 |
| Connected invariant sets for high-speed motion planning in partially-known environments.
|
ICRA | 2015 | 0 |
| Theoretical Limits of Speed and Resolution for Kinodynamic Planning in a Poisson Forest.
|
RSS | 2015 | 6 |
| Emergency maneuver library - ensuring safe navigation in partially known environments.
|
ICRA | 2015 | 21 |
| 3D Convolutional Neural Networks for landing zone detection from LiDAR.
|
ICRA | 2015 | 217 |
| VoxNet: A 3D Convolutional Neural Network for real-time object recognition.
|
IROS | 2015 | 3619 |
| Real-time onboard 6DoF localization of an indoor MAV in degraded visual environments using a RGB-D camera.
|
ICRA | 2015 | 34 |
| PASP: Policy based approach for sensor planning.
|
ICRA | 2015 | 11 |
| Experimental study of odometry estimation methods using RGB-D cameras.
|
IROS | 2014 | 24 |
| Visual SLAM for autonomous MAVs with dual cameras.
|
ICRA | 2014 | 21 |
| RRT*-AR: Sampling-based alternate routes planning with applications to autonomous emergency landing of a helicopter.
|
ICRA | 2013 | 49 |
| Efficient onbard RGBD-SLAM for autonomous MAVs.
|
IROS | 2013 | 56 |
| First results in detecting and avoiding frontal obstacles from a monocular camera for micro unmanned aerial vehicles.
|
ICRA | 2013 | 171 |
| Infrastructure-free shipdeck tracking for autonomous landing.
|
ICRA | 2013 | 43 |
| Sparse Tangential Network (SPARTAN): Motion planning for micro aerial vehicles.
|
ICRA | 2013 | 61 |
| Using depth in visual simultaneous localisation and mapping.
|
ICRA | 2012 | 49 |
| First results in autonomous landing and obstacle avoidance by a full-scale helicopter.
|
ICRA | 2012 | 18 |
| Autonomous landing at unprepared sites by a full-scale helicopter.
|
Robotics and Autonomous Systems | 2012 | 107 |
| River mapping from a flying robot: state estimation, river detection, and obstacle mapping.
|
Autonomous Robots | 2012 | 0 |
| Multiple-objective motion planning for unmanned aerial vehicles.
|
IROS | 2011 | 9 |
| Perception for a river mapping robot.
|
IROS | 2011 | 44 |
| Self-supervised segmentation of river scenes.
|
ICRA | 2011 | 37 |
| Efficient C-space and cost function updates in 3D for unmanned aerial vehicles.
|
ICRA | 2009 | 22 |
| Flying Fast and Low Among Obstacles: Methodology and Experiments.
|
IJRR | 2008 | 200 |
| Flying Fast and Low Among Obstacles.
|
ICRA | 2007 | 114 |
| Learning to Drive Among Obstacles.
|
IROS | 2006 | 6 |