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2010.07929
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Multi-Resolution 3D Mapping with Explicit Free Space Representation for Fast and Accurate Mobile Robot Motion Planning
15 October 2020
Nils Funk
J. Tarrio
Sotiris Papatheodorou
Marija Popović
P. Alcantarilla
Stefan Leutenegger
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Papers citing
"Multi-Resolution 3D Mapping with Explicit Free Space Representation for Fast and Accurate Mobile Robot Motion Planning"
27 / 27 papers shown
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A Survey on LiDAR-based Autonomous Aerial Vehicles
IEEE/ASME transactions on mechatronics (TAM), 2025
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Yixi Cai
Haotian Li
Nan Chen
Fangcheng Zhu
Longji Yin
Fanze Kong
Rundong Li
Fu Zhang
266
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12 Sep 2025
HEPP: Hyper-efficient Perception and Planning for High-speed Obstacle Avoidance of UAVs
Minghao Lu
Xiyu Fan
Bowen Xu
Zexuan Yan
Rui Peng
Han Chen
Lixian Zhang
Peng Lu
237
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23 May 2025
FindAnything: Open-Vocabulary and Object-Centric Mapping for Robot Exploration in Any Environment
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Simon Boche
Sotiris Papatheodorou
Xingxing Zuo
Jaehyung Jung
Stefan Leutenegger
Stefan Leutenegger
442
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11 Apr 2025
Gaussian Process Distance Fields Obstacle and Ground Constraints for Safe Navigation
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Cedric Le Gentil
Lan Wu
Teresa Vidal-Calleja
206
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23 Oct 2024
DynORecon: Dynamic Object Reconstruction for Navigation
IEEE International Conference on Robotics and Automation (ICRA), 2024
Yiduo Wang
Jesse Morris
Lan Wu
Teresa Vidal-Calleja
V. Ila
273
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30 Sep 2024
Efficient Submap-based Autonomous MAV Exploration using Visual-Inertial SLAM Configurable for LiDARs or Depth Cameras
IEEE International Conference on Robotics and Automation (ICRA), 2024
Sotiris Papatheodorou
Simon Boche
Sebastián Barbas Laina
Stefan Leutenegger
366
5
0
25 Sep 2024
Uncertainty-Aware Visual-Inertial SLAM with Volumetric Occupancy Mapping
IEEE International Conference on Robotics and Automation (ICRA), 2024
Jaehyung Jung
Simon Boche
Sebastián Barbas Laina
Stefan Leutenegger
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18 Sep 2024
SOLVR: Submap Oriented LiDAR-Visual Re-Localisation
IEEE International Conference on Robotics and Automation (ICRA), 2024
Joshua Knights
Sebastián Barbas Laina
Peyman Moghadam
Stefan Leutenegger
428
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16 Sep 2024
MAP-ADAPT: Real-Time Quality-Adaptive Semantic 3D Maps
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Jianhao Zheng
Daniel Barath
Marc Pollefeys
Iro Armeni
354
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09 Jun 2024
Waverider: Leveraging Hierarchical, Multi-Resolution Maps for Efficient and Reactive Obstacle Avoidance
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Michael Pantic
Roland Siegwart
Lionel Ott
221
8
0
22 May 2024
Scalable Outdoors Autonomous Drone Flight with Visual-Inertial SLAM and Dense Submaps Built without LiDAR
Sebastián Barbas Laina
Simon Boche
Sotiris Papatheodorou
Dimos Tzoumanikas
Xingxing Zuo
Hanzhi Chen
Stefan Leutenegger
263
4
0
14 Mar 2024
Control-Barrier-Aided Teleoperation with Visual-Inertial SLAM for Safe MAV Navigation in Complex Environments
Siqi Zhou
Sotiris Papatheodorou
Stefan Leutenegger
Angela P. Schoellig
199
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0
07 Mar 2024
Tightly-Coupled LiDAR-Visual-Inertial SLAM and Large-Scale Volumetric Occupancy Mapping
Simon Boche
Sebastián Barbas Laina
Stefan Leutenegger
334
15
0
04 Mar 2024
GIRA: Gaussian Mixture Models for Inference and Robot Autonomy
IEEE International Conference on Robotics and Automation (ICRA), 2023
K. Goel
Wennie Tabib
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367
2
0
30 Jun 2023
SeMLaPS: Real-time Semantic Mapping with Latent Prior Networks and Quasi-Planar Segmentation
IEEE Robotics and Automation Letters (RA-L), 2023
Jingwen Wang
J. Tarrio
Lourdes Agapito
P. Alcantarilla
Alexander Vakhitov
3DPC
303
9
0
28 Jun 2023
GMMap: Memory-Efficient Continuous Occupancy Map Using Gaussian Mixture Model
IEEE Transactions on robotics (TRO), 2023
Peter Zhi Xuan Li
S. Karaman
Vivienne Sze
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269
13
0
06 Jun 2023
Efficient volumetric mapping of multi-scale environments using wavelet-based compression
Victor Reijgwart
Cesar Cadena
Roland Siegwart
Lionel Ott
140
24
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02 Jun 2023
ROG-Map: An Efficient Robocentric Occupancy Grid Map for Large-scene and High-resolution LiDAR-based Motion Planning
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023
Yunfan Ren
Yixi Cai
Fangcheng Zhu
Siqi Liang
Fu Zhang
205
29
0
28 Feb 2023
Finding Things in the Unknown: Semantic Object-Centric Exploration with an MAV
IEEE International Conference on Robotics and Automation (ICRA), 2023
Sotiris Papatheodorou
Nils Funk
Dimos Tzoumanikas
Christopher L. Choi
Binbin Xu
Stefan Leutenegger
372
33
0
28 Feb 2023
Probabilistic Point Cloud Modeling via Self-Organizing Gaussian Mixture Models
IEEE Robotics and Automation Letters (RA-L), 2023
K. Goel
Nathan Michael
Wennie Tabib
3DPC
352
25
0
31 Jan 2023
Hierarchical Collision Avoidance for Adaptive-Speed Multirotor Teleoperation
IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), 2022
K. Goel
Yves Georgy Daoud
Nathan Michael
Wennie Tabib
133
3
0
17 Sep 2022
3D Lidar Reconstruction with Probabilistic Depth Completion for Robotic Navigation
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
Yifu Tao
Marija Popović
Yiduo Wang
Sundara Tejaswi Digumarti
Nived Chebrolu
Maurice F. Fallon
3DV
251
11
0
25 Jul 2022
LiDAR Road-Atlas: An Efficient Map Representation for General 3D Urban Environment
Field Robotics (FR), 2022
Banghe Wu
Chengzhong Xu
Hui Kong
3DV
136
2
0
12 Apr 2022
Adaptive-Resolution Field Mapping Using Gaussian Process Fusion with Integral Kernels
Liren Jin
Julius Ruckin
Stefan H. Kiss
Teresa Vidal-Calleja
Marija Popović
252
13
0
29 Sep 2021
Volumetric Occupancy Mapping With Probabilistic Depth Completion for Robotic Navigation
IEEE Robotics and Automation Letters (RA-L), 2020
Marija Popović
Florian Thomas
Sotiris Papatheodorou
Nils Funk
Teresa Vidal-Calleja
Stefan Leutenegger
3DV
315
27
0
05 Dec 2020
Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks
IEEE International Conference on Robotics and Automation (ICRA), 2020
Yiduo Wang
Nils Funk
Milad Ramezani
Sotiris Papatheodorou
Marija Popović
Marco Camurri
Stefan Leutenegger
Maurice F. Fallon
3DV
287
22
0
19 Oct 2020
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