Self-supervised Point Cloud Prediction Using 3D Spatio-temporal Convolutional Networks. - Benedikt Mersch; Xieyuanli Chen; Jens Behley; Cyrill Stachniss (CoRL, 2021)

Embedded Stochastic Field Exploration with Micro Diving Agents using Bayesian Optimization-Guided Tree-Search and GMRFs. - Daniel-André Duecker; Benedikt Mersch; Rene C. Hochdahl; Edwin Kreuzer (IROS, 2021)

Maneuver-based Trajectory Prediction for Self-driving Cars Using Spatio-temporal Convolutional Networks. - Benedikt Mersch; Thomas Höllen; Kun Zhao; Cyrill Stachniss; Ribana Roscher (IROS, 2021)

Moving Object Segmentation in 3D LiDAR Data: A Learning-Based Approach Exploiting Sequential Data. - Xieyuanli Chen; Shijie Li 006; Benedikt Mersch; Louis Wiesmann; Jürgen Gall; Jens Behley; Cyrill Stachniss (IEEE Robotics Autom. Lett., 2021)

Automatic Labeling to Generate Training Data for Online LiDAR-Based Moving Object Segmentation. - Xieyuanli Chen; Benedikt Mersch; Lucas Nunes; Rodrigo Marcuzzi; Ignacio Vizzo; Jens Behley; Cyrill Stachniss (IEEE Robotics Autom. Lett., 2022)

Receding Moving Object Segmentation in 3D LiDAR Data Using Sparse 4D Convolutions. - Benedikt Mersch; Xieyuanli Chen; Ignacio Vizzo; Lucas Nunes; Jens Behley; Cyrill Stachniss (IEEE Robotics Autom. Lett., 2022)

Make it Dense: Self-Supervised Geometric Scan Completion of Sparse 3D LiDAR Scans in Large Outdoor Environments. - Ignacio Vizzo; Benedikt Mersch; Rodrigo Marcuzzi; Louis Wiesmann; Jens Behley; Cyrill Stachniss (IEEE Robotics Autom. Lett., 2022)

Radar Velocity Transformer: Single-scan Moving Object Segmentation in Noisy Radar Point Clouds. - Matthias Zeller; Vardeep S. Sandhu; Benedikt Mersch; Jens Behley; Michael Heidingsfeld; Cyrill Stachniss (ICRA, 2023)

Toward Reproducible Version-Controlled Perception Platforms: Embracing Simplicity in Autonomous Vehicle Dataset Acquisition. - Ignacio Vizzo; Benedikt Mersch; Lucas Nunes; Louis Wiesmann; Tiziano Guadagnino; Cyrill Stachniss (ITSC, 2023)

ERASOR2: Instance-Aware Robust 3D Mapping of the Static World in Dynamic Scenes. - Hyungtae Lim; Lucas Nunes; Benedikt Mersch; Xieyuanli Chen; Jens Behley; Hyun Myung; Cyrill Stachniss (Robotics: Science and Systems, 2023)

Building Volumetric Beliefs for Dynamic Environments Exploiting Map-Based Moving Object Segmentation. - Benedikt Mersch; Tiziano Guadagnino; Xieyuanli Chen; Ignacio Vizzo; Jens Behley; Cyrill Stachniss (IEEE Robotics Autom. Lett., 2023)

KISS-ICP: In Defense of Point-to-Point ICP - Simple, Accurate, and Robust Registration If Done the Right Way. - Ignacio Vizzo; Tiziano Guadagnino; Benedikt Mersch; Louis Wiesmann; Jens Behley; Cyrill Stachniss (IEEE Robotics Autom. Lett., 2023)

Scaling Diffusion Models to Real-World 3D LiDAR Scene Completion. - Lucas Nunes; Rodrigo Marcuzzi; Benedikt Mersch; Jens Behley; Cyrill Stachniss (CVPR, 2024)

Effectively Detecting Loop Closures using Point Cloud Density Maps. - Saurabh Gupta; Tiziano Guadagnino; Benedikt Mersch; Ignacio Vizzo; Cyrill Stachniss (ICRA, 2024)

HeLiMOS: A Dataset for Moving Object Segmentation in 3D Point Clouds From Heterogeneous LiDAR Sensors. - Hyungtae Lim; Seoyeon Jang; Benedikt Mersch; Jens Behley; Hyun Myung; Cyrill Stachniss (IROS, 2024)

Kinematic-ICP: Enhancing LiDAR Odometry with Kinematic Constraints for Wheeled Mobile Robots Moving on Planar Surfaces. - Tiziano Guadagnino; Benedikt Mersch; Ignacio Vizzo; Saurabh Gupta; Meher V. R. Malladi; Luca Lobefaro; Guillaume Doisy; Cyrill Stachniss (CoRR, 2024)

Generalizable Stable Points Segmentation for 3D LiDAR Scan-to-Map Long-Term Localization. - Ibrahim Hroob; Benedikt Mersch; Cyrill Stachniss; Marc Hanheide (IEEE Robotics Autom. Lett., 2024)

Radar Instance Transformer: Reliable Moving Instance Segmentation in Sparse Radar Point Clouds. - Matthias Zeller; Vardeep S. Sandhu; Benedikt Mersch; Jens Behley; Michael Heidingsfeld; Cyrill Stachniss (IEEE Trans. Robotics, 2024)

Efficiently Closing Loops in LiDAR-Based SLAM Using Point Cloud Density Maps. - Saurabh Gupta; Tiziano Guadagnino; Benedikt Mersch; Niklas Trekel; Meher V. R. Malladi; Cyrill Stachniss (CoRR, 2025)

KISS-SLAM: A Simple, Robust, and Accurate 3D LiDAR SLAM System With Enhanced Generalization Capabilities. - Tiziano Guadagnino; Benedikt Mersch; Saurabh Gupta; Ignacio Vizzo; Giorgio Grisetti; Cyrill Stachniss (CoRR, 2025)