SL
Stefan Leutenegger
cs.ROcs.CVcs.LGcs.AIAlgorithmscs.DCcs.GRcs.HCeess.IVEye gaze
On Valency
published · living versionsW_5turmuk9·v1 · currentpublished
GOFusion: Real-Time Gaussian-Occupancy Submap Fusion for Fisher-Informed Autonomous Robot Navigation
with Boxin Bu, Simon Boche, Haoming Zhang, Jaehyung Jung +4
1 version
Preprints & journals
86 papers in the corpus · 2015–2026GOFusion: Real-Time Gaussian-Occupancy Submap Fusion for Fisher-Informed Autonomous Robot Navigation2610.25261v1 · Boxin Bu, Simon Boche, Haoming Zhang et al.2026 · 0 citationsarXivon Valency
REFLEX: A Learned On-Board Reflex for Robust Autonomous Collision Recovery of Soft Quadrotors2610.15867v1 · Jakob Hermeler, Luca Girardi, Gabriel Maquignaz et al.2026 · 0 citationsarXiv
Low-Latency Mapless ESDF Queries for MAV Reactive Collision Avoidance2610.13158v1 · Leonard Frei\ssmuth, Cedric Le Gentil, Helen Oleynikova et al.2026 · 0 citationsarXiv
RAGNAROK: Radar-Aided Gravity-Normalized Alignment for Robust Open Keyframe-based Radar-Visual-Kinematic-Inertial SLAM2610.11531v1 · Hanjun Kim, Chiyun Noh, Sangwoo Jung et al.2026 · 0 citationsarXiv
Scalix: Uncertainty-Aware Scale-Consistent Monocular SLAM2608.17553v1 · Sebastian Barbas Laina, Tianyi Zhang, Panagiotis Petropoulakis et al.2026 · 0 citationsarXiv
SpotlessGS: Relightable 3D Gaussian Splatting under Dynamic Illumination for Robotic Perception2608.14713v1 · Liang Hong, Jiaxin Wei, Simon Schaefer et al.2026 · 0 citationsarXiv
SPEAR: A Simulator for Photorealistic Embodied AI Research2607.06701v1 · Mike Roberts, Renhan Wang, Rushikesh Zawar et al.2026 · 0 citationsarXiv
Robot Self-Improvement via Human-Video Dynamics Models2606.21406v1 · Hanzhi Chen, Anran Zhang, Simon Schaefer et al.2026 · 0 citationsarXiv
HumanFlow -- Diffusion-Driven MAV Navigation Among Humans via Tightly-Coupled Motion Tracking, Forecasting, and Control2605.25685v1 · Simon Schaefer, Joshua Naf, Stefan Leutenegger2026 · 0 citationsarXiv
OpenSGA: Efficient 3D Scene Graph Alignment in the Open World2605.10484v1 · Gang Chen, Sebasti'an Barbas Laina, Stefan Leutenegger et al.2026 · 0 citationsarXiv
AERO-VIS: Asynchronous Event-based Real-time Onboard Visual-Inertial SLAM2605.07885v2 · Yannick Burkhardt, Sebasti'an Barbas Laina, Simon Boche et al.2026 · 0 citationsIEEE Robotics and Automation Letters, vol. 11, no. 10, pp. 11689-11696, Oct. 2026
DigiForest: Digital Analytics and Robotics for Sustainable Forestry2604.14652v1 · Marco Camurri, Enrico Tomelleri, Mat'ias Mattamala et al.2026 · 0 citationsarXiv
HumanHalo: Safe and Efficient 3D Navigation Among Humans via Minimally Conservative MPC2510.17525v4 · Simon Schaefer, Helen Oleynikova, Sandra Hirche et al.2025 · 0 citationsarXiv
GOPLA: Generalizable Object Placement Learning via Synthetic Augmentation of Human Arrangement2510.14627v2 · Yao Zhong, Hanzhi Chen, Simon Schaefer et al.2025 · 0 citationsarXiv
Actron3D: Learning Actionable Neural Functions from Videos for Transferable Robotic Manipulation2510.12971v2 · Anran Zhang, Hanzhi Chen, Yannick Burkhardt et al.2025 · 0 citations2026 IEEE International Conference on Robotics and Automation (ICRA), pp. 21003-21010, 2026
OKVIS2-X: Open Keyframe-based Visual-Inertial SLAM Configurable with Dense Depth or LiDAR, and GNSS2510.04612v1 · Simon Boche, Jaehyung Jung, Sebasti'an Barbas Laina et al.2025 · 14 citationsarXiv
CoRe-GS: Coarse-to-Refined Gaussian Splatting with Semantic Object Focus2509.04859v4 · Hannah Schieber, Dominik Frischmann, Victor Schaack et al.2025 · 0 citationsarXiv
GSFix3D: Diffusion-Guided Repair of Novel Views in Gaussian Splatting2508.14717v1 · Jiaxin Wei, Stefan Leutenegger, Simon Schaefer2025 · 8 citationsarXiv
FindAnything: Open-Vocabulary and Object-Centric Mapping for Robot Exploration in Any Environment2504.08603v4 · Sebasti'an Barbas Laina, Simon Boche, Sotiris Papatheodorou et al.2025 · 0 citationsarXiv
SuperEvent: Cross-Modal Learning of Event-based Keypoint Detection for SLAM2504.00139v2 · Yannick Burkhardt, Simon Schaefer, Stefan Leutenegger2025 · 7 citationsarXiv
VidBot: Learning Generalizable 3D Actions from In-the-Wild 2D Human Videos for Zero-Shot Robotic Manipulation2503.07135v2 · Hanzhi Chen, Boyang Sun, Anran Zhang et al.2025 · 9 citationsarXiv
REGRACE: A Robust and Efficient Graph-based Re-localization Algorithm using Consistency Evaluation2503.03599v2 · D'ebora N.P. Oliveira, Joshua Knights, Sebasti'an Barbas Laina et al.2025 · 0 citationsarXiv
FrontierNet: Learning Visual Cues to Explore2501.04597v2 · Boyang Sun, Hanzhi Chen, Stefan Leutenegger et al.2025 · 6 citationsarXiv
Int-HRL: towards intention-based hierarchical reinforcement learning.40756565 · Penzkofer, Anna, Schaefer, Simon, Strohm, Florian et al.2025 · 1 citationNeural computing & applications. 2025;37(23):18823-18834
Efficient Submap-based Autonomous MAV Exploration using Visual-Inertial SLAM Configurable for LiDARs or Depth Cameras2409.16972v2 · Sotiris Papatheodorou, Simon Boche, Sebasti'an Barbas Laina et al.2024 · 2 citationsarXiv
Uncertainty-Aware Visual-Inertial SLAM with Volumetric Occupancy Mapping2409.12051v3 · Jaehyung Jung, Simon Boche, Sebasti'an Barbas Laina et al.2024 · 5 citationsarXiv
SOLVR: Submap Oriented LiDAR-Visual Re-Localisation2409.10247v2 · Joshua Knights, Sebasti'an Barbas Laina, Peyman Moghadam et al.2024 · 0 citationsarXiv
GSFusion: Online RGB-D Mapping Where Gaussian Splatting Meets TSDF Fusion2408.12677v3 · Jiaxin Wei, Stefan Leutenegger2024 · 16 citationsarXiv
IN-Sight: Interactive Navigation through Sight2408.00343v2 · Philipp Schoch, Fan Yang, Yuntao Ma et al.2024 · 7 citationsarXiv
Online Tree Reconstruction and Forest Inventory on a Mobile Robotic System2403.17622v2 · Leonard Frei\ssmuth, Matias Mattamala, Nived Chebrolu et al.2024 · 21 citations2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, United Arab Emirates, 2024, pp. 11765-11772
DynamicGlue: Epipolar and Time-Informed Data Association in Dynamic Environments using Graph Neural Networks2403.11370v3 · Theresa Huber, Simon Schaefer, Stefan Leutenegger2024 · 0 citationsarXiv
Scalable Outdoors Autonomous Drone Flight with Visual-Inertial SLAM and Dense Submaps Built without LiDAR2403.09596v2 · Sebasti'an Barbas Laina, Simon Boche, Sotiris Papatheodorou et al.2024 · 1 citationarXiv
Control-Barrier-Aided Teleoperation with Visual-Inertial SLAM for Safe MAV Navigation in Complex Environments2403.04331v1 · Siqi Zhou, Sotiris Papatheodorou, Stefan Leutenegger et al.2024 · 4 citationsarXiv
Tightly-Coupled LiDAR-Visual-Inertial SLAM and Large-Scale Volumetric Occupancy Mapping2403.02280v1 · Simon Boche, Sebasti'an Barbas Laina, Stefan Leutenegger2024 · 16 citationsarXiv
FuncGrasp: Learning Object-Centric Neural Grasp Functions from Single Annotated Example Object2402.05644v2 · Hanzhi Chen, Binbin Xu, Stefan Leutenegger2024 · 4 citationsarXiv
Author Correction: Aerial additive manufacturing with multiple autonomous robots.38263518 · Zhang, Ketao, Chermprayong, Pisak, Xiao, Feng et al.2024 · 2 citationsNature. 2024;626(7998):E5
NeRF-VO: Real-Time Sparse Visual Odometry with Neural Radiance Fields2312.13471v2 · Jens Naumann, Binbin Xu, Stefan Leutenegger et al.2023 · 23 citationsIEEE Robotics and Automation Letters (RA-L), 2024
Dynamic LiDAR Re-simulation using Compositional Neural Fields2312.05247v2 · Hanfeng Wu, Xingxing Zuo, Stefan Leutenegger et al.2023 · 11 citationsarXiv
DiffCAD: Weakly-Supervised Probabilistic CAD Model Retrieval and Alignment from an RGB Image2311.18610v2 · Daoyi Gao, D'avid Rozenberszki, Stefan Leutenegger et al.2023 · 29 citationsarXiv
Anthropomorphic Grasping with Neural Object Shape Completion2311.02510v2 · Diego Hidalgo-Carvajal, Hanzhi Chen, Gemma C. Bettelani et al.2023 · 17 citationsarXiv
AEPP: A Less-constrained EPP Solver for Pose Estimation with Anisotropic Scaling2310.09982v4 · Jiaxin Wei, Stefan Leutenegger, Laurent Kneip2023 · 2 citationsarXiv
Accurate and Interactive Visual-Inertial Sensor Calibration with Next-Best-View and Next-Best-Trajectory Suggestion2309.14514v1 · Christopher L. Choi, Binbin Xu, Stefan Leutenegger2023 · 3 citationsarXiv
GloPro: Globally-Consistent Uncertainty-Aware 3D Human Pose Estimation & Tracking in the Wild2309.10369v2 · Simon Schaefer, Dorian F. Henning, Stefan Leutenegger2023 · 3 citationsarXiv
BodySLAM++: Fast and Tightly-Coupled Visual-Inertial Camera and Human Motion Tracking2309.01236v1 · Dorian F. Henning, Christopher Choi, Simon Schaefer et al.2023 · 13 citationsarXiv
SimpleMapping: Real-Time Visual-Inertial Dense Mapping with Deep Multi-View Stereo2306.08648v3 · Yingye Xin, Xingxing Zuo, Dongyue Lu et al.2023 · 9 citationsarXiv
Incremental Dense Reconstruction from Monocular Video with Guided Sparse Feature Volume Fusion2305.14918v1 · Xingxing Zuo, Nan Yang, Nathaniel Merrill et al.2023 · 15 citationsarXiv
Finding Things in the Unknown: Semantic Object-Centric Exploration with an MAV2302.14569v2 · Sotiris Papatheodorou, Nils Funk, Dimos Tzoumanikas et al.2023 · 25 citationsarXiv
Event-based Non-Rigid Reconstruction from Contours2210.06270v2 · Yuxuan Xue, Haolong Li, Stefan Leutenegger et al.2022 · 6 citationsarXiv
Aerial additive manufacturing with multiple autonomous robots.36131037 · Zhang, Ketao, Chermprayong, Pisak, Xiao, Feng et al.2022 · 279 citationsNature. 2022;609(7928):709-717
Learning to Complete Object Shapes for Object-level Mapping in Dynamic Scenes2208.05067v1 · Binbin Xu, Andrew J. Davison, Stefan Leutenegger2022 · 7 citationsarXiv
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