Fast plane detection and polygonalization in noisy 3D range images. - Jann Poppinga; Narunas Vaskevicius; Andreas Birk 002; Kaustubh Pathak (IROS, 2008)

Relaxing loop-closing errors in 3D maps based on planar surface patches. - Kaustubh Pathak; Max Pfingsthorn; Narunas Vaskevicius; Andreas Birk 002 (ICAR, 2009)

Revisiting uncertainty analysis for optimum planes extracted from 3D range sensor point-clouds. - Kaustubh Pathak; Narunas Vaskevicius; Andreas Birk 002 (ICRA, 2009)

Fast 3D mapping by matching planes extracted from range sensor point-clouds. - Kaustubh Pathak; Narunas Vaskevicius; Jann Poppinga; Max Pfingsthorn; Sören Schwertfeger; Andreas Birk 002 (IROS, 2009)

3-D perception and modeling. - Andreas Birk 002; Narunas Vaskevicius; Kaustubh Pathak; Sören Schwertfeger; Jann Poppinga; Heiko Bülow (IEEE Robotics Autom. Mag., 2009)

Extraction of quadrics from noisy point-clouds using a sensor noise model. - Narunas Vaskevicius; Kaustubh Pathak; Razvan Pascanu; Andreas Birk 002 (ICRA, 2010)

Evaluation of the robustness of planar-patches based 3D-registration using marker-based ground-truth in an outdoor urban scenario. - Kaustubh Pathak; Dorit Borrmann; Jan Elseberg; Narunas Vaskevicius; Andreas Birk 002; Andreas Nüchter (IROS, 2010)

Plane-based registration of sonar data for underwater 3D mapping. - Kaustubh Pathak; Andreas Birk 002; Narunas Vaskevicius (IROS, 2010)

Efficient Representation in Three-Dimensional Environment Modeling for Planetary Robotic Exploration. - Narunas Vaskevicius; Andreas Birk 002; Kaustubh Pathak; Sören Schwertfeger (Adv. Robotics, 2010)

Uncertainty analysis for optimum plane extraction from noisy 3D range-sensor point-clouds. - Kaustubh Pathak; Narunas Vaskevicius; Andreas Birk 002 (Intell. Serv. Robotics, 2010)

Online three-dimensional SLAM by registration of large planar surface segments and closed-form pose-graph relaxation. - Kaustubh Pathak; Andreas Birk 002; Narunas Vaskevicius; Max Pfingsthorn; Sören Schwertfeger; Jann Poppinga (J. Field Robotics, 2010)

Surface Representations for 3D Mapping - A Case for a Paradigm Shift. - Andreas Birk 002; Kaustubh Pathak; Narunas Vaskevicius; Max Pfingsthorn; Jann Poppinga; Sören Schwertfeger (Künstliche Intell., 2010)

Fast Registration Based on Noisy Planes With Unknown Correspondences for 3-D Mapping. - Kaustubh Pathak; Andreas Birk 002; Narunas Vaskevicius; Jann Poppinga (IEEE Trans. Robotics, 2010)

Towards Pathplanning for Unmanned Ground Vehicles (UGV) in 3D Plane-Maps of Unstructured Environments. - Narunas Vaskevicius; Andreas Birk 002 (Künstliche Intell., 2011)

The jacobs robotics approach to object recognition and localization in the context of the ICRA'11 Solutions in Perception Challenge. - Narunas Vaskevicius; Kaustubh Pathak; Alexandru Ichim; Andreas Birk 002 (ICRA, 2012)

Utilizing color information in 3D scan-registration using planar-patches matching. - Kaustubh Pathak; Narunas Vaskevicius; Francisc Bungiu; Andreas Birk 002 (MFI, 2012)

Uncertainty estimation of AR-marker poses for graph-SLAM optimization in 3D object model generation with RGBD data. - Razvan-George Mihalyi; Kaustubh Pathak; Narunas Vaskevicius; Andreas Birk 002 (IROS, 2013)

Object recognition and localization for robust grasping with a dexterous gripper in the context of container unloading. - Narunas Vaskevicius; Christian A. Mueller; Manuel Bonilla; Vinicio Tincani; Todor Stoyanov; Gualtiero Fantoni; Kaustubh Pathak; Achim J. Lilienthal; Antonio Bicchi; Andreas Birk 002 (CASE, 2014)

Fitting superquadrics in noisy, partial views from a low-cost RGBD sensor for recognition and localization of sacks in autonomous unloading of shipping containers. - Narunas Vaskevicius; Kaustubh Pathak; Andreas Birk 002 (CASE, 2014)

Velvet fingers: Grasp planning and execution for an underactuated gripper with active surfaces. - Robert Krug 002; Todor Stoyanov; Manuel Bonilla; Vinicio Tincani; Narunas Vaskevicius; Gualtiero Fantoni; Andreas Birk 002; Achim J. Lilienthal; Antonio Bicchi (ICRA, 2014)

Beyond points: Evaluating recent 3D scan-matching algorithms. - Martin Magnusson 002; Narunas Vaskevicius; Todor Stoyanov; Kaustubh Pathak; Andreas Birk 002 (ICRA, 2015)

Robust 3D object modeling with a low-cost RGBD-sensor and AR-markers for applications with untrained end-users. - Razvan-George Mihalyi; Kaustubh Pathak; Narunas Vaskevicius; Tobias Fromm; Andreas Birk 002 (Robotics Auton. Syst., 2015)

Knowledge-Enabled Robotic Agents for Shelf Replenishment in Cluttered Retail Environments: (Extended Abstract). - Jan Oliver Winkler; Ferenc Balint-Benczedi; Thiemo Wiedemeyer; Michael Beetz; Narunas Vaskevicius; Christian A. Mueller; Tobias Fromm; Andreas Birk 002 (AAMAS, 2016)

Anticipation and attention for robust object recognition with RGBD-data in an industrial application scenario. - Narunas Vaskevicius; Kaustubh Pathak; Andreas Birk 002 (IROS, 2016)

Knowledge-Enabled Robotic Agents for Shelf Replenishment in Cluttered Retail Environments. - Jan Oliver Winkler; Ferenc Balint-Benczedi; Thiemo Wiedemeyer; Michael Beetz; Narunas Vaskevicius; Christian A. Mueller; Tobias Fromm; Andreas Birk 002 (CoRR, 2016)

No More Heavy Lifting: Robotic Solutions to the Container Unloading Problem. - Todor Stoyanov; Narunas Vaskevicius; Christian A. Mueller; Tobias Fromm; Robert Krug 002; Vinicio Tincani; Rasoul Mojtahedzadeh; Stefan Kunaschk; Rafael Mortensen Ernits; Daniel Ricao Canelhas; Manuel Bonilla; Sören Schwertfeger; et al. (IEEE Robotics Autom. Mag., 2016)

Recognition and Localization of Sacks for Autonomous Container Unloading by Fitting Superquadrics in Noisy, Partial Views from a Low-cost RGBD Sensor. - Narunas Vaskevicius; Kaustubh Pathak; Andreas Birk 002 (J. Intell. Robotic Syst., 2017)

Surface Patches with Uncertainties for 3D Object Recognition and 3D Mapping with Noisy Sensors. - Narunas Vaskevicius (2017)

Revisiting Superquadric Fitting: A Numerically Stable Formulation. - Narunas Vaskevicius; Andreas Birk 002 (IEEE Trans. Pattern Anal. Mach. Intell., 2019)

Multi-Path Learning for Object Pose Estimation Across Domains. - Martin Sundermeyer; Maximilian Durner; En Yen Puang; Zoltan-Csaba Marton; Narunas Vaskevicius; Kai O. Arras; Rudolph Triebel (CVPR, 2020)

Accurate detection and 3D localization of humans using a novel YOLO-based RGB-D fusion approach and synthetic training data. - Timm Linder; Kilian Y. Pfeiffer; Narunas Vaskevicius; Robert Schirmer; Kai O. Arras (ICRA, 2020)

Cross-Modal Analysis of Human Detection for Robotics: An Industrial Case Study. - Timm Linder; Narunas Vaskevicius; Robert Schirmer; Kai O. Arras (IROS, 2021)

Predicting Dense and Context-aware Cost Maps for Semantic Robot Navigation. - Yash Goel; Narunas Vaskevicius; Luigi Palmieri; Nived Chebrolu; Cyrill Stachniss (CoRR, 2022)

Semantically Informed MPC for Context-Aware Robot Exploration. - Yash Goel; Narunas Vaskevicius; Luigi Palmieri; Nived Chebrolu; Kai O. Arras; Cyrill Stachniss (IROS, 2023)

Lang3DSG: Language-based contrastive pre-training for 3D Scene Graph prediction. - Sebastian Koch; Pedro Hermosilla; Narunas Vaskevicius; Mirco Colosi; Timo Ropinski (3DV, 2024)

Open3DSG: Open-Vocabulary 3D Scene Graphs from Point Clouds with Queryable Objects and Open-Set Relationships. - Sebastian Koch; Narunas Vaskevicius; Mirco Colosi; Pedro Hermosilla; Timo Ropinski (CVPR, 2024)

RGB-D Cube R-CNN: 3D Object Detection with Selective Modality Dropout. - Jens Piekenbrinck; Alexander Hermans; Narunas Vaskevicius; Timm Linder; Bastian Leibe (CVPR Workshops, 2024)

Fast Global Point Cloud Registration using Semantic NDT. - Robert Schirmer; Narunas Vaskevicius; Peter Biber; Cyrill Stachniss (IROS, 2024)

The Surprising Ineffectiveness of Pre-Trained Visual Representations for Model-Based Reinforcement Learning. - Moritz Schneider; Robert Krug 002; Narunas Vaskevicius; Luigi Palmieri; Joschka Boedecker (NeurIPS, 2024)

SGRec3D: Self-Supervised 3D Scene Graph Learning via Object-Level Scene Reconstruction. - Sebastian Koch; Pedro Hermosilla; Narunas Vaskevicius; Mirco Colosi; Timo Ropinski (WACV, 2024)

GraphEQA: Using 3D Semantic Scene Graphs for Real-time Embodied Question Answering. - Saumya Saxena; Blake Buchanan; Chris Paxton 001; Bingqing Chen; Narunas Vaskevicius; Luigi Palmieri; Jonathan Francis; Oliver Kroemer (CoRR, 2024)

RelationField: Relate Anything in Radiance Fields. - Sebastian Koch; Johanna Wald; Mirco Colosi; Narunas Vaskevicius; Pedro Hermosilla; Federico Tombari; Timo Ropinski (CVPR, 2025)

OpenSplat3D: Open-Vocabulary 3D Instance Segmentation using Gaussian Splatting. - Jens Piekenbrinck; Christian Schmidt 029; Alexander Hermans; Narunas Vaskevicius; Timm Linder; Bastian Leibe (CVPR Workshops, 2025)