Efficient Large Scale SLAM Including Data Association using the Combined Filter. - Cesar Dario Cadena Lerma; Fabio Ramos 001; José Neira (ECMR, 2009)

Robust place recognition with stereo cameras. - Cesar Dario Cadena Lerma; Dorian Gálvez-López; Fabio T. Ramos 001; Juan D. Tardós; José Neira (IROS, 2010)

SLAM in O(log n) with the Combined Kalman-Information Filter. - Cesar Dario Cadena Lerma; José Neira (Robotics Auton. Syst., 2010)

6-DOF Multi-session Visual SLAM using Anchor Nodes. - John McDonald 001; Michael Kaess; Cesar Dario Cadena Lerma; José Neira; John J. Leonard (ECMR, 2011)

Realizing, reversing, recovering: Incremental robust loop closing over time using the iRRR algorithm. - Yasir Latif; Cesar Dario Cadena Lerma; José Neira (IROS, 2012)

Robust Loop Closing Over Time. - Yasir Latif; Cesar Dario Cadena Lerma; José Neira (Robotics: Science and Systems, 2012)

Robust Place Recognition With Stereo Sequences. - Cesar Dario Cadena Lerma; Dorian Gálvez-López; Juan D. Tardós; José Neira (IEEE Trans. Robotics, 2012)

Recursive Inference for Prediction of Objects in Urban Environments. - Cesar Cadena 001; Jana Kosecká (ISRR, 2013)

Robust loop closing over time for pose graph SLAM. - Yasir Latif; Cesar Dario Cadena Lerma; José Neira (Int. J. Robotics Res., 2013)

Real-time 6-DOF multi-session visual SLAM over large-scale environments. - John McDonald 001; Michael Kaess; Cesar Dario Cadena Lerma; José Neira; John J. Leonard (Robotics Auton. Syst., 2013)

Semantic segmentation with heterogeneous sensor coverages. - Cesar Dario Cadena Lerma; Jana Kosecka (ICRA, 2014)

Robust graph SLAM back-ends: A comparative analysis. - Yasir Latif; Cesar Dario Cadena Lerma; José Neira (IROS, 2014)

Sequence searching with deep-learnt depth for condition- and viewpoint-invariant route-based place recognition. - Michael Milford; Stephanie M. Lowry; Niko Sünderhauf; Sareh Shirazi; Edward Pepperell; Ben Upcroft; Chunhua Shen; Guosheng Lin; Fayao Liu; Cesar Cadena 001; Ian D. Reid 001 (CVPR Workshops, 2015)

A fast, modular scene understanding system using context-aware object detection. - Cesar Cadena 001; Anthony R. Dick; Ian D. Reid 001 (ICRA, 2015)

Semantic parsing for priming object detection in indoors RGB-D scenes. - Cesar Dario Cadena Lerma; Jana Kosecká (Int. J. Robotics Res., 2015)

Direct semi-dense SLAM for rolling shutter cameras. - Jae-Hak Kim; Cesar Cadena 001; Ian D. Reid 001 (ICRA, 2016)

Measuring the performance of single image depth estimation methods. - Cesar Cadena 001; Yasir Latif; Ian D. Reid 001 (IROS, 2016)

Multi-modal Auto-Encoders as Joint Estimators for Robotics Scene Understanding. - Cesar Cadena 001; Anthony R. Dick; Ian D. Reid 001 (Robotics: Science and Systems, 2016)

3D localization, mapping and path planning for search and rescue operations. - Renaud Dubé; Abel Gawel; Cesar Cadena 001; Roland Siegwart; Luigi Freda; Mario Gianni (SSRR, 2016)

Simultaneous Localization And Mapping: Present, Future, and the Robust-Perception Age. - Cesar Cadena 001; Luca Carlone; Henry Carrillo; Yasir Latif; Davide Scaramuzza 001; José Neira; Ian D. Reid 001; John J. Leonard (CoRR, 2016)

SegMatch: Segment based loop-closure for 3D point clouds. - Renaud Dubé; Daniel Dugas; Elena Stumm; Juan I. Nieto 001; Roland Siegwart; Cesar Cadena 001 (CoRR, 2016)

Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age. - Cesar Cadena 001; Luca Carlone; Henry Carrillo; Yasir Latif; Davide Scaramuzza 001; José Neira; Ian Reid 001; John J. Leonard (IEEE Trans. Robotics, 2016)

SegMatch: Segment based place recognition in 3D point clouds. - Renaud Dubé; Daniel Dugas; Elena Stumm; Juan I. Nieto 001; Roland Siegwart; Cesar Cadena 001 (ICRA, 2017)

TSDF-based change detection for consistent long-term dense reconstruction and dynamic object discovery. - Marius Fehr; Fadri Furrer; Ivan Dryanovski; Jürgen Sturm; Igor Gilitschenski; Roland Siegwart; Cesar Cadena 001 (ICRA, 2017)

From perception to decision: A data-driven approach to end-to-end motion planning for autonomous ground robots. - Mark Pfeiffer; Michael Schaeuble; Juan I. Nieto 001; Roland Siegwart; Cesar Cadena 001 (ICRA, 2017)

An online multi-robot SLAM system for 3D LiDARs. - Renaud Dubé; Abel Gawel; Hannes Sommer; Juan I. Nieto 001; Roland Siegwart; Cesar Cadena 001 (IROS, 2017)

3D registration of aerial and ground robots for disaster response: An evaluation of features, descriptors, and transformation estimation. - Abel Gawel; Renaud Dubé; Hartmut Surmann; Juan I. Nieto 001; Roland Siegwart; Cesar Cadena 001 (SSRR, 2017)

Reliable real-time change detection and mapping for 3D LiDARs. - Lorenz Wellhausen; Renaud Dubé; Abel Gawel; Roland Siegwart; Cesar Cadena 001 (SSRR, 2017)

X-View: Graph-Based Semantic Multi-View Localization. - Abel Gawel; Carlo Del Don; Roland Siegwart; Juan I. Nieto 001; Cesar Cadena 001 (CoRR, 2017)

TSDF Manifolds: A Scalable and Consistent Dense Mapping Approach. - Alexander Millane; Zachary Taylor; Helen Oleynikova; Juan I. Nieto 001; Roland Siegwart; Cesar Cadena 001 (CoRR, 2017)

A Data-driven Model for Interaction-Aware Pedestrian Motion Prediction in Object Cluttered Environments. - Mark Pfeiffer; Giuseppe Paolo; Hannes Sommer; Juan I. Nieto 001; Roland Siegwart; Cesar Cadena 001 (ICRA, 2018)

Modular Sensor Fusion for Semantic Segmentation. - Hermann Blum; Abel Gawel; Roland Siegwart; Cesar Cadena 001 (IROS, 2018)

C-blox: A Scalable and Consistent TSDF-based Dense Mapping Approach. - Alexander Millane; Zachary Taylor; Helen Oleynikova; Juan I. Nieto 001; Roland Siegwart; Cesar Cadena 001 (IROS, 2018)

3D Ground Point Classification for Automotive Scenarios. - Julia Nitsch; Julio Aguilar; Juan I. Nieto 001; Roland Siegwart; Max Schmidt; Cesar Cadena 001 (ITSC, 2018)

Map Management for Efficient Long-Term Visual Localization in Outdoor Environments. - Mathias Bürki; Marcin Dymczyk; Igor Gilitschenski; Cesar Cadena 001; Roland Siegwart; Juan I. Nieto 001 (Intelligent Vehicles Symposium, 2018)

SegMap: 3D Segment Mapping using Data-Driven Descriptors. - Renaud Dubé; Andrei Cramariuc; Daniel Dugas; Juan I. Nieto 001; Roland Siegwart; Cesar Cadena 001 (Robotics: Science and Systems, 2018)

Aerial-Ground collaborative sensing: Third-Person view for teleoperation. - Abel Gawel; Yukai Lin; Théodore Koutros; Roland Siegwart; Cesar Cadena 001 (SSRR, 2018)

Reinforced Imitation: Sample Efficient Deep Reinforcement Learning for Map-less Navigation by Leveraging Prior Demonstrations. - Mark Pfeiffer; Samarth Shukla; Matteo Turchetta; Cesar Cadena 001; Andreas Krause 001; Roland Siegwart; Juan I. Nieto 001 (CoRR, 2018)

Leveraging Deep Visual Descriptors for Hierarchical Efficient Localization. - Paul-Edouard Sarlin; Frédéric Debraine; Marcin Dymczyk; Roland Siegwart; Cesar Cadena 001 (CoRR, 2018)

Automatic Segmentation of Tree Structure From Point Cloud Data. - Sundara Tejaswi Digumarti; Juan I. Nieto 001; Cesar Cadena 001; Roland Siegwart; Paul A. Beardsley (IEEE Robotics Autom. Lett., 2018)

Incremental-Segment-Based Localization in 3-D Point Clouds. - Renaud Dubé; Mattia G. Gollub; Hannes Sommer; Igor Gilitschenski; Roland Siegwart; Cesar Cadena 001; Juan I. Nieto 001 (IEEE Robotics Autom. Lett., 2018)

X-View: Graph-Based Semantic Multiview Localization. - Abel Gawel; Carlo Del Don; Roland Siegwart; Juan I. Nieto 001; Cesar Cadena 001 (IEEE Robotics Autom. Lett., 2018)

Free LSD: Prior-Free Visual Landing Site Detection for Autonomous Planes. - Timo Hinzmann; Thomas Stastny; Cesar Cadena 001; Roland Siegwart; Igor Gilitschenski (IEEE Robotics Autom. Lett., 2018)

Reinforced Imitation: Sample Efficient Deep Reinforcement Learning for Mapless Navigation by Leveraging Prior Demonstrations. - Mark Pfeiffer; Samarth Shukla; Matteo Turchetta; Cesar Cadena 001; Andreas Krause 001; Roland Siegwart; Juan I. Nieto 001 (IEEE Robotics Autom. Lett., 2018)

From Coarse to Fine: Robust Hierarchical Localization at Large Scale. - Paul-Edouard Sarlin; Cesar Cadena 001; Roland Siegwart; Marcin Dymczyk (CVPR, 2019)

Airborne Particle Classification in LiDAR Point Clouds Using Deep Learning. - Leo Stanislas; Julian Nubert; Daniel Dugas; Julia Nitsch; Niko Sünderhauf; Roland Siegwart; César Cadena 001; Thierry Peynot (FSR, 2019)

Predicting Unobserved Space for Planning via Depth Map Augmentation. - Marius Fehr; Tim Taubner; Yang Liu; Roland Siegwart; Cesar Cadena 001 (ICAR, 2019)

Fishyscapes: A Benchmark for Safe Semantic Segmentation in Autonomous Driving. - Hermann Blum; Paul-Edouard Sarlin; Juan I. Nieto 001; Roland Siegwart; Cesar Cadena 001 (ICCV Workshops, 2019)

Empty Cities: Image Inpainting for a Dynamic-Object-Invariant Space. - Berta Bescós; José Neira; Roland Siegwart; Cesar Cadena 001 (ICRA, 2019)

An Approach for Semantic Segmentation of Tree-like Vegetation. - Sundara Tejaswi Digumarti; Lukas Maximilian Schmid 001; Giuseppe Maria Rizzi; Juan I. Nieto 001; Roland Siegwart; Paul A. Beardsley; Cesar Cadena 001 (ICRA, 2019)

Object Classification Based on Unsupervised Learned Multi-Modal Features For Overcoming Sensor Failures. - Julia Nitsch; Juan I. Nieto 001; Roland Siegwart; Max Schmidt; Cesar Cadena 001 (ICRA, 2019)

Flexible Trinocular: Non-rigid Multi-Camera-IMU Dense Reconstruction for UAV Navigation and Mapping. - Timo Hinzmann; Cesar Cadena 001; Juan I. Nieto 001; Roland Siegwart (IROS, 2019)

Free-Space Features: Global Localization in 2D Laser SLAM Using Distance Function Maps. - Alexander Millane; Helen Oleynikova; Juan I. Nieto 001; Roland Siegwart; César Cadena 001 (IROS, 2019)

OREOS: Oriented Recognition of 3D Point Clouds in Outdoor Scenarios. - Lukas Schaupp; Mathias Bürki; Renaud Dubé; Roland Siegwart; Cesar Cadena 001 (IROS, 2019)

VIZARD: Reliable Visual Localization for Autonomous Vehicles in Urban Outdoor Environments. - Mathias Bürki; Lukas Schaupp; Marcin Dymczyk; Renaud Dubé; Cesar Cadena 001; Roland Siegwart; Juan I. Nieto 001 (IV, 2019)

3D multi-robot patrolling with a two-level coordination strategy. - Luigi Freda; Mario Gianni; Fiora Pirri; Abel Gawel; Renaud Dubé; Roland Siegwart; Cesar Cadena 001 (Auton. Robots, 2019)

Observability-aware Self-Calibration of Visual and Inertial Sensors for Ego-Motion Estimation. - Thomas Schneider 007; Mingyang Li; Cesar Cadena 001; Juan I. Nieto 001; Roland Siegwart (CoRR, 2019)

This is not what I imagined: Error Detection for Semantic Segmentation through Visual Dissimilarity. - David Haldimann; Hermann Blum; Roland Siegwart; Cesar Cadena 001 (CoRR, 2019)

Appearance-based landmark selection for visual localization. - Mathias Bürki; Cesar Cadena 001; Igor Gilitschenski; Roland Siegwart; Juan I. Nieto 001 (J. Field Robotics, 2019)

The current state and future outlook of rescue robotics. - Jeffrey A. Delmerico; Stefano Mintchev; Alessandro Giusti; Boris Gromov; Kamilo Melo; Tomislav Horvat; Cesar Cadena 001; Marco Hutter 001; Auke Jan Ijspeert; Dario Floreano; Luca Maria Gambardella; Roland Siegwart; et al. (J. Field Robotics, 2019)

Multiple Hypothesis Semantic Mapping for Robust Data Association. - Lukas Bernreiter; Abel Gawel; Hannes Sommer; Juan I. Nieto 001; Roland Siegwart; Cesar Dario Cadena Lerma (IEEE Robotics Autom. Lett., 2019)

Volumetric Instance-Aware Semantic Mapping and 3D Object Discovery. - Margarita Grinvald; Fadri Furrer; Tonci Novkovic; Jen Jen Chung; Cesar Cadena 001; Roland Siegwart; Juan I. Nieto 001 (IEEE Robotics Autom. Lett., 2019)

Experimental Comparison of Visual-Aided Odometry Methods for Rail Vehicles. - Florian Tschopp; Thomas Schneider 007; Andrew W. Palmer; Navid Nourani-Vatani; Cesar Cadena 001; Roland Siegwart; Juan I. Nieto 001 (IEEE Robotics Autom. Lett., 2019)

Where Should I Walk? Predicting Terrain Properties From Images Via Self-Supervised Learning. - Lorenz Wellhausen; Alexey Dosovitskiy; René Ranftl; Krzysztof Walas; Cesar Cadena 001; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2019)

Learning Trajectories for Visual-Inertial System Calibration via Model-based Heuristic Deep Reinforcement Learning. - Le Chen; Yunke Ao; Florian Tschopp; Andrei Cramariuc; Michel Breyer; Jen Jen Chung; Roland Siegwart; César Cadena 001 (CoRL, 2020)

Learning Camera Miscalibration Detection. - Andrei Cramariuc; Aleksandar Petrov; Rohit Suri; Mayank Mittal; Roland Siegwart; Cesar Cadena 001 (ICRA, 2020)

MOZARD: Multi-Modal Localization for Autonomous Vehicles in Urban Outdoor Environments. - Lukas Schaupp; Patrick Pfreundschuh; Mathias Bürki; Cesar Cadena 001; Roland Siegwart; Juan I. Nieto 001 (IROS, 2020)

Learning Common and Transferable Feature Representations for Multi-Modal Data. - Julia Nitsch; Juan I. Nieto 001; Roland Siegwart; Max Schmidt; Cesar Cadena 001 (IV, 2020)

3D Gated Recurrent Fusion for Semantic Scene Completion. - Yu Liu 029; Jie Li 040; Qingsen Yan; Xia Yuan; Chunxia Zhao; Ian D. Reid 001; Cesar Cadena 001 (CoRR, 2020)

Precise Robot Localization in Architectural 3D Plans. - Hermann Blum; Julian Stiefel; Cesar Cadena 001; Roland Siegwart; Abel Gawel (CoRR, 2020)

Deep Learning-based Human Detection for UAVs with Optical and Infrared Cameras: System and Experiments. - Timo Hinzmann; Tobias Stegemann; Cesar Cadena 001; Roland Siegwart (CoRR, 2020)

Freetures: Localization in Signed Distance Function Maps. - Alexander Millane; Helen Oleynikova; Christian Lanegger; Jeffrey A. Delmerico; Juan I. Nieto 001; Roland Siegwart; Marc Pollefeys; Cesar Cadena 001 (CoRR, 2020)

Quantifying Aleatoric and Epistemic Uncertainty Using Density Estimation in Latent Space. - Janis Postels; Hermann Blum; Cesar Cadena 001; Roland Siegwart; Luc Van Gool; Federico Tombari (CoRR, 2020)

SegMap: Segment-based mapping and localization using data-driven descriptors. - Renaud Dubé; Andrei Cramariuc; Daniel Dugas; Hannes Sommer; Marcin Dymczyk; Juan I. Nieto 001; Roland Siegwart; Cesar Cadena 001 (Int. J. Robotics Res., 2020)

Depth Based Semantic Scene Completion With Position Importance Aware Loss. - Jie Li 040; Yu Liu 029; Xia Yuan; Chunxia Zhao; Roland Siegwart; Ian Reid 001; Cesar Cadena 001 (IEEE Robotics Autom. Lett., 2020)

Learning Densities in Feature Space for Reliable Segmentation of Indoor Scenes. - Nicolas Marchal; Charlotte Moraldo; Hermann Blum; Roland Siegwart; Cesar Cadena 001; Abel Gawel (IEEE Robotics Autom. Lett., 2020)

Voxgraph: Globally Consistent, Volumetric Mapping Using Signed Distance Function Submaps. - Victor Reijgwart; Alexander Millane; Helen Oleynikova; Roland Siegwart; Cesar Cadena 001; Juan I. Nieto 001 (IEEE Robotics Autom. Lett., 2020)

VersaVIS - An Open Versatile Multi-Camera Visual-Inertial Sensor Suite. - Florian Tschopp; Michael Riner; Marius Fehr; Lukas Bernreiter; Fadri Furrer; Tonci Novkovic; Andreas Pfrunder; Cesar Cadena 001; Roland Siegwart; Juan I. Nieto 001 (Sensors, 2020)

NeuralBlox: Real-Time Neural Representation Fusion for Robust Volumetric Mapping. - Stefan Lionar; Lukas Schmid 001; Cesar Cadena 001; Roland Siegwart; Andrei Cramariuc (3DV, 2021)

Self-Improving Semantic Perception for Indoor Localisation. - Hermann Blum; Francesco Milano 001; René Zurbrügg; Roland Siegwart; Cesar Cadena 001; Abel Gawel (CoRL, 2021)

Pixel-Wise Anomaly Detection in Complex Driving Scenes. - Giancarlo Di Biase; Hermann Blum; Roland Siegwart; César Cadena 001 (CVPR, 2021)

Spherical Multi-Modal Place Recognition for Heterogeneous Sensor Systems. - Lukas Bernreiter; Lionel Ott; Juan I. Nieto 001; Roland Siegwart; Cesar Cadena 001 (ICRA, 2021)

Out-of-Distribution Detection for Automotive Perception. - Julia Nitsch; Masha Itkina; Ransalu Senanayake; Juan I. Nieto 001; Max Schmidt; Roland Siegwart; Mykel J. Kochenderfer; Cesar Cadena 001 (ITSC, 2021)

CalQNet - Detection of Calibration Quality for Life-Long Stereo Camera Setups. - Jiapeng Zhong; Zheyu Ye; Andrei Cramariuc; Florian Tschopp; Jen Jen Chung; Roland Siegwart; Cesar Cadena 001 (IV, 2021)

Self-Improving Semantic Perception on a Construction Robot. - Hermann Blum; Francesco Milano 001; René Zurbrügg; Roland Siegwart; Cesar Cadena 001; Abel Gawel (CoRR, 2021)

Superquadric Object Representation for Optimization-based Semantic SLAM. - Florian Tschopp; Juan I. Nieto 001; Roland Siegwart; Cesar Cadena 001 (CoRR, 2021)

Continual Learning of Semantic Segmentation using Complementary 2D-3D Data Representations. - Jonas Frey; Hermann Blum; Francesco Milano 001; Roland Siegwart; Cesar Cadena 001 (CoRR, 2021)

The Fishyscapes Benchmark: Measuring Blind Spots in Semantic Segmentation. - Hermann Blum; Paul-Edouard Sarlin; Juan I. Nieto 001; Roland Siegwart; Cesar Cadena 001 (Int. J. Comput. Vis., 2021)

PHASER: A Robust and Correspondence-Free Global Pointcloud Registration. - Lukas Bernreiter; Lionel Ott; Juan I. Nieto 001; Roland Siegwart; Cesar Cadena 001 (IEEE Robotics Autom. Lett., 2021)

Mesh Manifold Based Riemannian Motion Planning for Omnidirectional Micro Aerial Vehicles. - Michael Pantic; Lionel Ott; Cesar Cadena 001; Roland Siegwart; Juan I. Nieto 001 (IEEE Robotics Autom. Lett., 2021)

A Unified Approach for Autonomous Volumetric Exploration of Large Scale Environments Under Severe Odometry Drift. - Lukas Schmid 001; Victor Reijgwart; Lionel Ott; Juan I. Nieto 001; Roland Siegwart; César Cadena 001 (IEEE Robotics Autom. Lett., 2021)

Empty Cities: A Dynamic-Object-Invariant Space for Visual SLAM. - Berta Bescós; Cesar Cadena 001; José Neira (IEEE Trans. Robotics, 2021)

Collaborative Robot Mapping using Spectral Graph Analysis. - Lukas Bernreiter; Shehryar Khattak; Lionel Ott; Roland Siegwart; Marco Hutter 001; César Cadena 001 (ICRA, 2022)

Panoptic Multi-TSDFs: a Flexible Representation for Online Multi-resolution Volumetric Mapping and Long-term Dynamic Scene Consistency. - Lukas Schmid 001; Jeffrey A. Delmerico; Johannes L. Schönberger; Juan I. Nieto 001; Marc Pollefeys; Roland Siegwart; César Cadena 001 (ICRA, 2022)

See Yourself in Others: Attending Multiple Tasks for Own Failure Detection. - Boyang Sun; Jiaxu Xing; Hermann Blum; Roland Siegwart; César Cadena 001 (ICRA, 2022)

Don't Share My Face: Privacy Preserving Inpainting for Visual Localization. - Saad Himmi; Oguzhan Ilter; François Pailleau; Roland Siegwart; Berta Bescós; Cesar Cadena 001 (IROS, 2022)

SCIM: Simultaneous Clustering, Inference, and Mapping for Open-World Semantic Scene Understanding. - Hermann Blum; Marcus Gerhard Müller; Abel Gawel; Roland Siegwart; Cesar Cadena 001 (ISRR, 2022)

Descriptellation: Deep Learned Constellation Descriptors for SLAM. - Chunwei Xing; Xinyu Sun; Andrei Cramariuc; Samuel Gull; Jen Jen Chung; César Cadena 001; Roland Siegwart; Florian Tschopp (CoRR, 2022)

Sampling-free obstacle gradients and reactive planning in Neural Radiance Fields (NeRF). - Michael Pantic; Cesar Cadena 001; Roland Siegwart; Lionel Ott (CoRR, 2022)

Incremental 3D Scene Completion for Safe and Efficient Exploration Mapping and Planning. - Lukas Schmid 001; Mansoor Nasir Cheema; Victor Reijgwart; Roland Siegwart; Federico Tombari; César Cadena 001 (CoRR, 2022)

Unsupervised Continual Semantic Adaptation through Neural Rendering. - Zhizheng Liu; Francesco Milano 001; Jonas Frey; Marco Hutter 001; Roland Siegwart; Hermann Blum; Cesar Cadena 001 (CoRR, 2022)

Linewise Non-Rigid Point Cloud Registration. - Miguel Castillón; Pere Ridao; Roland Siegwart; César Cadena 001 (IEEE Robotics Autom. Lett., 2022)

Continual Adaptation of Semantic Segmentation Using Complementary 2D-3D Data Representations. - Jonas Frey; Hermann Blum; Francesco Milano 001; Roland Siegwart; Cesar Cadena 001 (IEEE Robotics Autom. Lett., 2022)

Embodied Active Domain Adaptation for Semantic Segmentation via Informative Path Planning. - René Zurbrügg; Hermann Blum; Cesar Cadena 001; Roland Siegwart; Lukas Schmid 001 (IEEE Robotics Autom. Lett., 2022)

High-Precision Low-Cost Gimballing Platform for Long-Range Railway Obstacle Detection. - Elio Hajj Assaf; Cornelius von Einem; Cesar Cadena 001; Roland Siegwart; Florian Tschopp (Sensors, 2022)

Robust and Efficient Edge-guided Pose Estimation with Resolution-conditioned NeRF. - Liesbeth Claessens; Fabian Manhardt; Ricardo Martin-Brualla; Roland Siegwart; Cesar Dario Cadena Lerma; Federico Tombari (BMVC, 2023)

Unsupervised Continual Semantic Adaptation Through Neural Rendering. - Zhizheng Liu; Francesco Milano 001; Jonas Frey; Roland Siegwart; Hermann Blum; Cesar Cadena 001 (CVPR, 2023)

SphNet: A Spherical Network for Semantic Pointcloud Segmentation. - Lukas Bernreiter; Lionel Ott; Roland Siegwart; Cesar Cadena 001 (ICRA, 2023)

3D VSG: Long-term Semantic Scene Change Prediction through 3D Variable Scene Graphs. - Samuel Looper; Javier Rodriguez Puigvert; Roland Siegwart; Cesar Cadena 001; Lukas Schmid 001 (ICRA, 2023)

Obstacle avoidance using Raycasting and Riemannian Motion Policies at kHz rates for MAVs. - Michael Pantic; Isar Meijer; Rik Bähnemann; Nikhilesh Alatur; Olov Andersson; Cesar Cadena 001; Roland Siegwart; Lionel Ott (ICRA, 2023)

Local and Global Information in Obstacle Detection on Railway Tracks. - Matthias Brucker; Andrei Cramariuc; Cornelius von Einem; Roland Siegwart; César Cadena 001 (IROS, 2023)

Path-Constrained State Estimation for Rail Vehicles. - Cornelius von Einem; Andrei Cramariuc; Roland Siegwart; Cesar Cadena 001; Florian Tschopp (ITSC, 2023)

Event-Based Classification of Defects in Civil Infrastructures with Artificial and Spiking Neural Networks. - Udayanga G. W. K. N. Gamage; Luca Zanatta; Matteo Fumagalli 001; Cesar Cadena 001; Silvia Tolu (IWANN (2), 2023)

Fast Traversability Estimation for Wild Visual Navigation. - Jonas Frey; Matías Mattamala; Nived Chebrolu; Cesar Cadena 001; Maurice F. Fallon; Marco Hutter 001 (Robotics: Science and Systems, 2023)

Efficient volumetric mapping of multi-scale environments using wavelet-based compression. - Victor Reijgwart; Cesar Cadena 001; Roland Siegwart; Lionel Ott (Robotics: Science and Systems, 2023)

iPlanner: Imperative Path Planning. - Fan Yang 092; Chen Wang 033; Cesar Cadena 001; Marco Hutter 001 (Robotics: Science and Systems, 2023)

maplab 2.0 - A Modular and Multi-Modal Mapping Framework. - Andrei Cramariuc; Lukas Bernreiter; Florian Tschopp; Marius Fehr; Victor Reijgwart; Juan I. Nieto 001; Roland Siegwart; Cesar Cadena 001 (IEEE Robotics Autom. Lett., 2023)

Modelify: An approach to incrementally build 3D object models for map completion. - Fadri Furrer; Tonci Novkovic; Marius Fehr; Margarita Grinvald; Cesar Cadena 001; Juan I. Nieto 001; Roland Siegwart (Int. J. Robotics Res., 2023)

Seeing Through the Grass: Semantic Pointcloud Filter for Support Surface Learning. - Anqiao Li; Chenyu Yang; Jonas Frey; Joonho Lee; Cesar Cadena 001; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2023)

Tag Map: A Text-Based Map for Spatial Reasoning and Navigation with Large Language Models. - Mike Zhang; Kaixian Qu; Vaishakh Patil; Cesar Cadena 001; Marco Hutter 001 (CoRL, 2024)

COIN-LIO: Complementary Intensity-Augmented LiDAR Inertial Odometry. - Patrick Pfreundschuh; Helen Oleynikova; César Cadena 001; Roland Siegwart; Olov Andersson (ICRA, 2024)

Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End. - Chong Zhang; Jin Jin; Jonas Frey; Nikita Rudin; Matías Mattamala; César Cadena 001; Marco Hutter 001 (ICRA, 2024)

Temporal- and Viewpoint-Invariant Registration for Under-Canopy Footage using Deep-Learning-based Bird's-Eye View Prediction. - Jiawei Zhou 004; Ruben Mascaro; Cesar Cadena 001; Margarita Chli; Lucas Teixeira (IROS, 2024)

VIRUS-NeRF - Vision, InfraRed and UltraSonic based Neural Radiance Fields. - Nicolaj Schmid; Cornelius von Einem; Cesar Cadena 001; Roland Siegwart; Lorenz Hruby; Florian Tschopp (IROS, 2024)

ROS-LLM: A ROS framework for embodied AI with task feedback and structured reasoning. - Christopher E. Mower; Yuhui Wan; Hongzhan Yu; Antoine Grosnit; Jonas Gonzalez-Billandon; Matthieu Zimmer; Jinlong Wang; Xinyu Zhang; Yao Zhao; Anbang Zhai; Puze Liu; Davide Tateo; et al. (CoRR, 2024)

MultiViPerFrOG: A Globally Optimized Multi-Viewpoint Perception Framework for Camera Motion and Tissue Deformation. - Guido Caccianiga; Julian Nubert; Cesar Cadena 001; Marco Hutter 001; Katherine J. Kuchenbecker (CoRR, 2024)

Informed, Constrained, Aligned: A Field Analysis on Degeneracy-aware Point Cloud Registration in the Wild. - Turcan Tuna; Julian Nubert; Patrick Pfreundschuh; Cesar Cadena 001; Shehryar Khattak; Marco Hutter 001 (CoRR, 2024)

IPPON: Common Sense Guided Informative Path Planning for Object Goal Navigation. - Kaixian Qu; Jie Tan 001; Tingnan Zhang; Fei Xia 002; Cesar Dario Cadena Lerma; Marco Hutter 001 (CoRR, 2024)

Continuous-Time State Estimation Methods in Robotics: A Survey. - William Talbot; Julian Nubert; Turcan Tuna; César Cadena 001; Frederike Dümbgen; Jesus Tordesillas; Timothy D. Barfoot; Marco Hutter 001 (CoRR, 2024)

Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned. - Marco Tranzatto; Mihir Dharmadhikari; Lukas Bernreiter; Marco Camurri; Shehryar Khattak; Frank Mascarich; Patrick Pfreundschuh; David Wisth; Samuel Zimmermann; Mihir Kulkarni; Victor Reijgwart; Benoit Casseau; et al. (Field Robotics, 2024)

A framework for collaborative multi-robot mapping using spectral graph wavelets. - Lukas Bernreiter; Shehryar Khattak; Lionel Ott; Roland Siegwart; Marco Hutter 001; César Cadena 001 (Int. J. Robotics Res., 2024)

ForestLPR: LiDAR Place Recognition in Forests Attentioning Multiple BEV Density Images. - Yanqing Shen; Turcan Tuna; Marco Hutter 001; César Cadena 001; Nanning Zheng 001 (CVPR, 2025)

Enhancing Robotic Precision in Construction: A Modular Factor Graph-Based Framework to Deflection and Backlash Compensation Using High-Accuracy Accelerometers. - Julien Kindle; Michael Loetscher; Andrea Alessandretti; César Cadena 001; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2025)

Keypoint Semantic Integration for Improved Feature Matching in Outdoor Agricultural Environments. - Rajitha de Silva; Jonathan Cox; Marija Popovic; Cesar Cadena 001; Cyrill Stachniss; Riccardo Polvara (CoRR, 2025)

Event-based Civil Infrastructure Visual Defect Detection: ev-CIVIL Dataset and Benchmark. - Udayanga G. W. K. N. Gamage; Xuanni Huo; Luca Zanatta; T. Delbruck; Cesar Cadena 001; Matteo Fumagalli 001; Silvia Tolu (CoRR, 2025)

Holistic Fusion: Task- and Setup-Agnostic Robot Localization and State Estimation with Factor Graphs. - Julian Nubert; Turcan Tuna; Jonas Frey; Cesar Cadena 001; Katherine J. Kuchenbecker; Shehryar Khattak; Marco Hutter 001 (CoRR, 2025)

Boxi: Design Decisions in the Context of Algorithmic Performance for Robotics. - Jonas Frey; Turcan Tuna; Lanke Frank Tarimo Fu; Cedric Weibel; Katharine Patterson; Benjamin Krummenacher; Matthias Müller; Julian Nubert; Maurice F. Fallon; Cesar Cadena 001; Marco Hutter 001 (CoRR, 2025)

Learned Perceptive Forward Dynamics Model for Safe and Platform-aware Robotic Navigation. - Pascal Roth; Jonas Frey; Cesar Cadena 001; Marco Hutter 001 (CoRR, 2025)

TartanGround: A Large-Scale Dataset for Ground Robot Perception and Navigation. - Manthan Patel; Fan Yang 092; Yuheng Qiu; Cesar Cadena 001; Sebastian A. Scherer; Marco Hutter 001; Wenshan Wang (CoRR, 2025)

Sight Guide: A Wearable Assistive Perception and Navigation System for the Vision Assistance Race in the Cybathlon 2024. - Patrick Pfreundschuh; Giovanni Cioffi; Cornelius von Einem; Alexander Wyss; Hans Wernher van de Venn; Cesar Cadena 001; Davide Scaramuzza 001; Roland Siegwart; Alireza Darvishy (CoRR, 2025)

Improving Long-Range Navigation with Spatially-Enhanced Recurrent Memory via End-to-End Reinforcement Learning. - Fan Yang 092; Per Frivik; David Hoeller; Chen Wang 033; Cesar Cadena 001; Marco Hutter 001 (CoRR, 2025)

FrontierNet: Learning Visual Cues to Explore. - Boyang Sun; Hanzhi Chen; Stefan Leutenegger; Cesar Cadena 001; Marc Pollefeys; Hermann Blum (IEEE Robotics Autom. Lett., 2025)

Wild visual navigation: fast traversability learning via pre-trained models and online self-supervision. - Matías Mattamala; Jonas Frey; Piotr Libera; Nived Chebrolu; Georg Martius; Cesar Cadena 001; Marco Hutter 001; Maurice F. Fallon (Auton. Robots, 2025)