Tightly-Coupled LiDAR-Visual-Inertial SLAM and Large-Scale Volumetric Occupancy Mapping. - Simon Boche; Sebastián Barbas Laina; Stefan Leutenegger (ICRA, 2024)

Scalable Autonomous Drone Flight in the Forest with Visual-Inertial SLAM and Dense Submaps Built without LiDAR. - Sebastián Barbas Laina; Simon Boche; Sotiris Papatheodorou; Dimos Tzoumanikas; Simon Schaefer; Hanzhi Chen; Stefan Leutenegger (CoRR, 2024)

SOLVR: Submap Oriented LiDAR-Visual Re-Localisation. - Joshua Knights; Sebastián Barbas Laina; Peyman Moghadam; Stefan Leutenegger (CoRR, 2024)

Uncertainty-Aware Visual-Inertial SLAM with Volumetric Occupancy Mapping. - Jaehyung Jung; Simon Boche; Sebastián Barbas Laina; Stefan Leutenegger (CoRR, 2024)

Efficient Submap-based Autonomous MAV Exploration using Visual-Inertial SLAM Configurable for LiDARs or Depth Cameras. - Sotiris Papatheodorou; Simon Boche; Sebastián Barbas Laina; Stefan Leutenegger (CoRR, 2024)

REGRACE: A Robust and Efficient Graph-based Re-localization Algorithm using Consistency Evaluation. - Débora N. P. Oliveira; Joshua Knights; Sebastián Barbas Laina; Simon Boche; Wolfram Burgard; Stefan Leutenegger (CoRR, 2025)

FindAnything: Open-Vocabulary and Object-Centric Mapping for Robot Exploration in Any Environment. - Sebastián Barbas Laina; Simon Boche; Sotiris Papatheodorou; Simon Schaefer; Jaehyung Jung; Stefan Leutenegger (CoRR, 2025)