Autonomous obstacle avoidance and maneuvering on a vision-guided MAV using on-board processing. - Lionel Heng; Lorenz Meier; Petri Tanskanen; Friedrich Fraundorfer; Marc Pollefeys (ICRA, 2011)

Real-time photo-realistic 3D mapping for micro aerial vehicles. - Lionel Heng; Gim Hee Lee; Friedrich Fraundorfer; Marc Pollefeys (IROS, 2011)

SFly: Swarm of micro flying robots. - Markus Achtelik; Michael Achtelik; Yorick Brunet; Margarita Chli; Savvas A. Chatzichristofis; Jean-Dominique Decotignie; Klaus-Michael Doth; Friedrich Fraundorfer; Laurent Kneip; Daniel Gurdan; Lionel Heng; Elias B. Kosmatopoulos; et al. (IROS, 2012)

Vision-based autonomous mapping and exploration using a quadrotor MAV. - Friedrich Fraundorfer; Lionel Heng; Dominik Honegger; Gim Hee Lee; Lorenz Meier; Petri Tanskanen; Marc Pollefeys (IROS, 2012)

PIXHAWK: A micro aerial vehicle design for autonomous flight using onboard computer vision. - Lorenz Meier; Petri Tanskanen; Lionel Heng; Gim Hee Lee; Friedrich Fraundorfer; Marc Pollefeys (Auton. Robots, 2012)

CamOdoCal: Automatic intrinsic and extrinsic calibration of a rig with multiple generic cameras and odometry. - Lionel Heng; Bo Li 018; Marc Pollefeys (IROS, 2013)

A multiple-camera system calibration toolbox using a feature descriptor-based calibration pattern. - Bo Li 018; Lionel Heng; Kevin Köser; Marc Pollefeys (IROS, 2013)

A 4-point algorithm for relative pose estimation of a calibrated camera with a known relative rotation angle. - Bo Li 018; Lionel Heng; Gim Hee Lee; Marc Pollefeys (IROS, 2013)

Toward automated driving in cities using close-to-market sensors: An overview of the V-Charge Project. - Paul Timothy Furgale; Ulrich Schwesinger; Martin Rufli; Wojciech Derendarz; Hugo Grimmett; Peter Mühlfellner; Stefan Wonneberger; Julian Timpner; Stephan Rottmann; Bo Li 018; Bastian Schmidt; Thien-Nghia Nguyen; et al. (Intelligent Vehicles Symposium, 2013)

Real-Time Direct Dense Matching on Fisheye Images Using Plane-Sweeping Stereo. - Christian Häne; Lionel Heng; Gim Hee Lee; Alexey Sizov; Marc Pollefeys (3DV, 2014)

Infrastructure-based calibration of a multi-camera rig. - Lionel Heng; Mathias Bürki; Gim Hee Lee; Paul Timothy Furgale; Roland Siegwart; Marc Pollefeys (ICRA, 2014)

Autonomous Visual Mapping and Exploration With a Micro Aerial Vehicle. - Lionel Heng; Dominik Honegger; Gim Hee Lee; Lorenz Meier; Petri Tanskanen; Friedrich Fraundorfer; Marc Pollefeys (J. Field Robotics, 2014)

Vision-Controlled Micro Flying Robots: From System Design to Autonomous Navigation and Mapping in GPS-Denied Environments. - Davide Scaramuzza 001; Michael Achtelik; Lefteris Doitsidis; Friedrich Fraundorfer; Elias B. Kosmatopoulos; Agostino Martinelli; Markus W. Achtelik; Margarita Chli; Savvas A. Chatzichristofis; Laurent Kneip; Daniel Gurdan; Lionel Heng; et al. (IEEE Robotics Autom. Mag., 2014)

Toward Full Autonomy for Vision-Guided Robots: From Self-Calibration to Self-Directed Exploration. - Lionel Heng (2014)

Efficient visual exploration and coverage with a micro aerial vehicle in unknown environments. - Lionel Heng; Alkis Gotovos; Andreas Krause 001; Marc Pollefeys (ICRA, 2015)

Real-time 3D navigation for autonomous vision-guided MAVs. - Shengdong Xu; Dominik Honegger; Marc Pollefeys; Lionel Heng (IROS, 2015)

Self-calibration and visual SLAM with a multi-camera system on a micro aerial vehicle. - Lionel Heng; Gim Hee Lee; Marc Pollefeys (Auton. Robots, 2015)

Leveraging Image-based Localization for Infrastructure-based Calibration of a Multi-camera Rig. - Lionel Heng; Paul Timothy Furgale; Marc Pollefeys (J. Field Robotics, 2015)

Semi-direct visual odometry for a fisheye-stereo camera. - Lionel Heng; Benjamin Choi (IROS, 2016)

Automated valet parking and charging for e-mobility. - Ulrich Schwesinger; Mathias Bürki; Julian Timpner; Stephan Rottmann; Lars C. Wolf; Lina María Paz; Hugo Grimmett; Ingmar Posner; Paul Newman 001; Christian Häne; Lionel Heng; Gim Hee Lee; et al. (Intelligent Vehicles Symposium, 2016)

Direct visual odometry for a fisheye-stereo camera. - Peidong Liu 001; Lionel Heng; Torsten Sattler; Andreas Geiger 001; Marc Pollefeys (IROS, 2017)

3D visual perception for self-driving cars using a multi-camera system: Calibration, mapping, localization, and obstacle detection. - Christian Häne; Lionel Heng; Gim Hee Lee; Friedrich Fraundorfer; Paul Furgale; Torsten Sattler; Marc Pollefeys (Image Vis. Comput., 2017)

Towards Robust Visual Odometry with a Multi-Camera System. - Peidong Liu 001; Marcel Geppert; Lionel Heng; Torsten Sattler; Andreas Geiger 001; Marc Pollefeys (IROS, 2018)

Real-Time Dense Mapping for Self-Driving Vehicles using Fisheye Cameras. - Zhaopeng Cui; Lionel Heng; Ye Chuan Yeo; Andreas Geiger 001; Marc Pollefeys; Torsten Sattler (ICRA, 2019)

Project AutoVision: Localization and 3D Scene Perception for an Autonomous Vehicle with a Multi-Camera System. - Lionel Heng; Benjamin Choi; Zhaopeng Cui; Marcel Geppert; Sixing Hu; Benson Kuan; Peidong Liu 001; Rang M. H. Nguyen; Ye Chuan Yeo; Andreas Geiger 001; Gim Hee Lee; Marc Pollefeys; et al. (ICRA, 2019)

Nighttime Stereo Depth Estimation using Joint Translation-Stereo Learning: Light Effects and Uninformative Regions. - Aashish Sharma; Loong-Fah Cheong; Lionel Heng; Robby T. Tan (3DV, 2020)

Automatic Targetless Extrinsic Calibration of Multiple 3D LiDARs and Radars. - Lionel Heng (IROS, 2020)

Continuous-time Radar-inertial Odometry for Automotive Radars. - Yin Zhi Ng; Benjamin Choi; Robby T. Tan; Lionel Heng (IROS, 2021)

A Robotic System of Systems for Human-Robot Collaboration in Search and Rescue Operations. - Teng Hooi Chan; James Kusuma Dewa Halim; Kian Wee Tan; Emmanuel Tang; Wei Jun Ang; Jin Yuan Tan; Samuel Cheong; Hoan-Nghia Ho; Benson Kuan; Muhammad Shalihan; Ran Liu 007; Gim Song Soh; et al. (AIM, 2023)