JB
Jens Behley
cs.ROcs.CVcs.LG3D mapping3D plant phenotyping3D surface reconstructionagricultural automationAlgorithmsautomatic labelingCrops, Agricultural
On Valency
published · living versionsW_zmmxay99·v1 · currentpublished
Sparse Anchors for Visual Multi-Session Registration in Changing Environments
with Yunus Talha Erzurumlu, Niklas Trekel, Saurabh Gupta, Nico Koltermann +3
1 version
Preprints & journals
64 papers in the corpus · 2018–2026Toward Generating Realistic 3D Semantic Training Data for Autonomous Driving.41770974 · Nunes, Lucas, Marcuzzi, Rodrigo, Behley, Jens et al.2026 · 0 citationsIEEE transactions on pattern analysis and machine intelligence. 2026;48(7):8093-8105
TASE: Truncation-Aware Semantic Embeddings for 3D Scene Understanding and Editing2606.03314v4 · Tim-Felix Faasch, Jochen Kall, Lucas Nunes et al.2026 · 0 citationsarXiv
DigiForest: Digital Analytics and Robotics for Sustainable Forestry2604.14652v1 · Marco Camurri, Enrico Tomelleri, Mat'ias Mattamala et al.2026 · 0 citationsarXiv
The Multi-Sensor and Multi-Temporal Dataset of Multiple Crops for In-Field Phenotyping and Monitoring.41507213 · Chong, Yue Linn, Krämer, Julie, Chakhvashvili, Erekle et al.2026 · 6 citationsScientific data. 2026;13(1):17
SAHA: Supervised Autonomous HArvester for selective forest thinning2601.01282v1 · Fang Nan, Meher Malladi, Qingqing Li et al.2026 · 2 citationsarXiv
Register Any Point: Scaling 3D Point Cloud Registration by Flow Matching2512.01850v2 · Yue Pan, Tao Sun, Liyuan Zhu et al.2025 · 1 citationarXiv
A Computer Vision Dataset for Pollinator Detection under Real Field Conditions10.1101/2025.10.27.682286v1 · Chong, Y. L., Nachtweid, P., Bauer, J. et al.2025 · 0 citationsbioRxiv
SemRaFiner: Panoptic Segmentation in Sparse and Noisy Radar Point Clouds2507.06906v1 · Matthias Zeller, Daniel Casado Herraez, Bengisu Ayan et al.2025 · 5 citationsarXiv
Radar Tracker: Moving Instance Tracking in Sparse and Noisy Radar Point Clouds2507.03441v1 · Matthias Zeller, Daniel Casado Herraez, Jens Behley et al.2025 · 6 citationsarXiv
Radar Velocity Transformer: Single-scan Moving Object Segmentation in Noisy Radar Point Clouds2507.03463v1 · Matthias Zeller, Vardeep S. Sandhu, Benedikt Mersch et al.2025 · 11 citationsarXiv
Coherent Online Road Topology Estimation and Reasoning with Standard-Definition Maps2507.01397v2 · Khanh Son Pham, Christian Witte, Jens Behley et al.2025 · 2 citationsarXiv
Generation of labeled leaf point clouds for plants trait estimation.41416199 · Roggiolani, Gianmarco, Bailey, Brian N, Behley, Jens et al.2025 · 5 citationsPlant phenomics (Washington, D.C.). 2025;7(3):100071
Globally Consistent RGB-D SLAM with 2D Gaussian Splatting2506.00970v1 · Xingguang Zhong, Yue Pan, Liren Jin et al.2025 · 2 citationsarXiv
Improving Indoor Localization Accuracy by Using an Efficient Implicit Neural Map Representation2503.23480v1 · Haofei Kuang, Yue Pan, Xingguang Zhong et al.2025 · 1 citationarXiv
Towards Generating Realistic 3D Semantic Training Data for Autonomous Driving2503.21449v3 · Lucas Nunes, Rodrigo Marcuzzi, Jens Behley et al.2025 · 0 citationsarXiv
3D Hierarchical Panoptic Segmentation in Real Orchard Environments Across Different Sensors2503.13188v2 · Matteo Sodano, Federico Magistri, Elias Marks et al.2025 · 2 citationsarXiv
Unsupervised semantic label generation in agricultural fields.40070454 · Roggiolani, Gianmarco, Rückin, Julius, Popović, Marija et al.2025 · 6 citationsFrontiers in robotics and AI. 2025;12:1548143
PINGS: Gaussian Splatting Meets Distance Fields within a Point-Based Implicit Neural Map2502.05752v2 · Yue Pan, Xingguang Zhong, Liren Jin et al.2025 · 10 citationsarXiv
ActiveGS: Active Scene Reconstruction Using Gaussian Splatting2412.17769v2 · Liren Jin, Xingguang Zhong, Yue Pan et al.2024 · 16 citationsarXiv
Open-World Panoptic Segmentation2412.12740v2 · Matteo Sodano, Federico Magistri, Jens Behley et al.2024 · 1 citationarXiv
Efficient LiDAR Bundle Adjustment for Multi-Scan Alignment Utilizing Continuous-Time Trajectories2412.11760v1 · Louis Wiesmann, Elias Marks, Saurabh Gupta et al.2024 · 2 citationsarXiv
Epipolar Attention Field Transformers for Bird's Eye View Semantic Segmentation2412.01595v1 · Christian Witte, Jens Behley, Cyrill Stachniss et al.2024 · 1 citationarXiv
Horticultural Temporal Fruit Monitoring via 3D Instance Segmentation and Re-Identification using Colored Point Clouds2411.07799v3 · Daniel Fusaro, Federico Magistri, Jens Behley et al.2024 · 5 citationsComputers and Electronics in Agriculture, Volume 247, Pages 111723, 2026
PhenoBench: A Large Dataset and Benchmarks for Semantic Image Interpretation in the Agricultural Domain.38923484 · Weyler, Jan, Magistri, Federico, Marks, Elias et al.2024 · 72 citationsIEEE transactions on pattern analysis and machine intelligence. 2024;46(12):9583-9594
AdaCropFollow: Self-Supervised Online Adaptation for Visual Under-Canopy Navigation2410.12411v1 · Arun N. Sivakumar, Federico Magistri, Mateus V. Gasparino et al.2024 · 0 citationsarXiv
HeLiMOS: A Dataset for Moving Object Segmentation in 3D Point Clouds From Heterogeneous LiDAR Sensors2408.06328v1 · Hyungtae Lim, Seoyeon Jang, Benedikt Mersch et al.2024 · 11 citationsarXiv
A Dataset and Benchmark for Shape Completion of Fruits for Agricultural Robotics2407.13304v3 · Federico Magistri, Thomas Labe, Elias Marks et al.2024 · 4 citationsarXiv
3D LiDAR Mapping in Dynamic Environments Using a 4D Implicit Neural Representation2405.03388v1 · Xingguang Zhong, Yue Pan, Cyrill Stachniss et al.2024 · 15 citationsarXiv
Scaling Diffusion Models to Real-World 3D LiDAR Scene Completion2403.13470v1 · Lucas Nunes, Rodrigo Marcuzzi, Benedikt Mersch et al.2024 · 28 citationsarXiv
Open-World Semantic Segmentation Including Class Similarity2403.07532v1 · Matteo Sodano, Federico Magistri, Lucas Nunes et al.2024 · 13 citationsarXiv
PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistency2401.09101v2 · Yue Pan, Xingguang Zhong, Louis Wiesmann et al.2024 · 89 citationsarXiv
Unsupervised Pre-Training for 3D Leaf Instance Segmentation2401.08720v1 · Gianmarco Roggiolani, Federico Magistri, Tiziano Guadagnino et al.2024 · 7 citationsIEEE Robotics and Automation Letters (RA-L), vol. 8, pp. 7448-7455, 2023
BonnBeetClouds3D: A Dataset Towards Point Cloud-based Organ-level Phenotyping of Sugar Beet Plants under Field Conditions2312.14706v2 · Elias Marks, Jonas Bomer, Federico Magistri et al.2023 · 0 citationsarXiv
Radar Instance Transformer: Reliable Moving Instance Segmentation in Sparse Radar Point Clouds2309.16435v1 · Matthias Zeller, Vardeep S. Sandhu, Benedikt Mersch et al.2023 · 20 citationsarXiv
Building Volumetric Beliefs for Dynamic Environments Exploiting Map-Based Moving Object Segmentation2307.08314v1 · Benedikt Mersch, Tiziano Guadagnino, Xieyuanli Chen et al.2023 · 50 citationsIEEE Robotics and Automation Letters, vol. 8, no. 8, pp. 5180-5187, Aug. 2023
On Domain-Specific Pre-Training for Effective Semantic Perception in Agricultural Robotics2303.12499v1 · Gianmarco Roggiolani, Federico Magistri, Tiziano Guadagnino et al.2023 · 8 citationsarXiv
Constructing Metric-Semantic Maps using Floor Plan Priors for Long-Term Indoor Localization2303.10959v2 · Nicky Zimmerman, Matteo Sodano, Elias Marks et al.2023 · 23 citationsarXiv
Panoptic Mapping with Fruit Completion and Pose Estimation for Horticultural Robots2303.08923v2 · Yue Pan, Federico Magistri, Thomas Labe et al.2023 · 27 citationsarXiv
Gaussian Radar Transformer for Semantic Segmentation in Noisy Radar Data2212.03690v1 · Matthias Zeller, Jens Behley, Michael Heidingsfeld et al.2022 · 39 citationsarXiv
Fully On-board Low-Power Localization with Multizone Time-of-Flight Sensors on Nano-UAVs2212.00710v1 · Hanna Muller, Nicky Zimmerman, Tommaso Polonelli et al.2022 · 7 citationsarXiv
Wheel-SLAM: Simultaneous Localization and Terrain Mapping Using One Wheel-mounted IMU2211.03174v2 · Yibin Wu, Jian Kuang, Xiaoji Niu et al.2022 · 17 citationsarXiv
Hierarchical Approach for Joint Semantic, Plant Instance, and Leaf Instance Segmentation in the Agricultural Domain2210.07879v2 · Gianmarco Roggiolani, Matteo Sodano, Tiziano Guadagnino et al.2022 · 44 citationsICRA 2023
Robust Double-Encoder Network for RGB-D Panoptic Segmentation2210.02834v2 · Matteo Sodano, Federico Magistri, Tiziano Guadagnino et al.2022 · 13 citationsICRA 2023
IR-MCL: Implicit Representation-Based Online Global Localization2210.03113v2 · Haofei Kuang, Xieyuanli Chen, Tiziano Guadagnino et al.2022 · 31 citationsarXiv
SHINE-Mapping: Large-Scale 3D Mapping Using Sparse Hierarchical Implicit Neural Representations2210.02299v3 · Xingguang Zhong, Yue Pan, Jens Behley et al.2022 · 85 citationsarXiv
Long-Term Localization using Semantic Cues in Floor Plan Maps2210.01456v1 · Nicky Zimmerman, Tiziano Guadagnino, Xieyuanli Chen et al.2022 · 39 citationsarXiv
KISS-ICP: In Defense of Point-to-Point ICP -- Simple, Accurate, and Robust Registration If Done the Right Way2209.15397v2 · Ignacio Vizzo, Tiziano Guadagnino, Benedikt Mersch et al.2022 · 532 citationsarXiv
Receding Moving Object Segmentation in 3D LiDAR Data Using Sparse 4D Convolutions2206.04129v1 · Benedikt Mersch, Xieyuanli Chen, Ignacio Vizzo et al.2022 · 117 citationsarXiv
Robust Onboard Localization in Changing Environments Exploiting Text Spotting2203.12647v2 · Nicky Zimmerman, Louis Wiesmann, Tiziano Guadagnino et al.2022 · 27 citationsarXiv
VDBFusion: Flexible and Efficient TSDF Integration of Range Sensor Data.35162040 · Vizzo, Ignacio, Guadagnino, Tiziano, Behley, Jens et al.2022 · 103 citationsSensors (Basel, Switzerland). 2022;22(3)
Career total: 140 works. 64 are in this corpus.Showing the 50 most recent.
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