Calibration of time-of-flight range imaging cameras. - Olivier Steiger; Judith Felder; Stephan Weiss 002 (ICIP, 2008)

Real-time understanding of 3D video on an embedded system. - Olivier Steiger; Stephan Weiss 002; Judith Felder (EUSIPCO, 2009)

Vision based MAV navigation in unknown and unstructured environments. - Michael Blösch; Stephan Weiss 002; Davide Scaramuzza 001; Roland Siegwart (ICRA, 2010)

MAV navigation through indoor corridors using optical flow. - Simon Zingg; Davide Scaramuzza 001; Stephan Weiss 002; Roland Siegwart (ICRA, 2010)

Delay and Dropout Tolerant State Estimation for MAVs. - Frédéric Bourgeois; Laurent Kneip; Stephan Weiss 002; Roland Siegwart (ISER, 2010)

Onboard IMU and monocular vision based control for MAVs in unknown in- and outdoor environments. - Markus Achtelik; Michael Achtelik; Stephan Weiss 002; Roland Siegwart (ICRA, 2011)

Closed-form solution for absolute scale velocity determination combining inertial measurements and a single feature correspondence. - Laurent Kneip; Agostino Martinelli; Stephan Weiss 002; Davide Scaramuzza 001; Roland Siegwart (ICRA, 2011)

Real-time metric state estimation for modular vision-inertial systems. - Stephan Weiss 002; Roland Siegwart (ICRA, 2011)

Collaborative stereo. - Markus Achtelik; Stephan Weiss 002; Margarita Chli; Frank Dellaert; Roland Siegwart (IROS, 2011)

3D surveillance coverage using maps extracted by a monocular SLAM algorithm. - Lefteris Doitsidis; Alessandro Renzaglia; Stephan Weiss 002; Elias B. Kosmatopoulos; Davide Scaramuzza 001; Roland Siegwart (IROS, 2011)

Deterministic initialization of metric state estimation filters for loosely-coupled monocular vision-inertial systems. - Laurent Kneip; Stephan Weiss 002; Roland Siegwart (IROS, 2011)

Robust embedded egomotion estimation. - Rainer Voigt; Janosch Nikolic; Christoph Hürzeler; Stephan Weiss 002; Laurent Kneip; Roland Siegwart (IROS, 2011)

Monocular-SLAM-based navigation for autonomous micro helicopters in GPS-denied environments. - Stephan Weiss 002; Davide Scaramuzza 001; Roland Siegwart (J. Field Robotics, 2011)

Vision Based Position Control for MAVs Using One Single Circular Landmark. - Daniel Eberli; Davide Scaramuzza 001; Stephan Weiss 002; Roland Siegwart (J. Intell. Robotic Syst., 2011)

Fusion of IMU and Vision for Absolute Scale Estimation in Monocular SLAM. - Gabriel Nützi; Stephan Weiss 002; Davide Scaramuzza 001; Roland Siegwart (J. Intell. Robotic Syst., 2011)

Intuitive 3D Maps for MAV Terrain Exploration and Obstacle Avoidance. - Stephan Weiss 002; Markus Achtelik; Laurent Kneip; Davide Scaramuzza 001; Roland Siegwart (J. Intell. Robotic Syst., 2011)

Versatile distributed pose estimation and sensor self-calibration for an autonomous MAV. - Stephan Weiss 002; Markus Achtelik; Margarita Chli; Roland Siegwart (ICRA, 2012)

Real-time onboard visual-inertial state estimation and self-calibration of MAVs in unknown environments. - Stephan Weiss 002; Markus Achtelik; Simon Lynen; Margarita Chli; Roland Siegwart (ICRA, 2012)

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)

Visual-inertial SLAM for a small helicopter in large outdoor environments. - Markus Achtelik; Simon Lynen; Stephan Weiss 002; Laurent Kneip; Margarita Chli; Roland Siegwart (IROS, 2012)

Optimal surveillance coverage for teams of micro aerial vehicles in GPS-denied environments using onboard vision. - Lefteris Doitsidis; Stephan Weiss 002; Alessandro Renzaglia; Markus Achtelik; Elias B. Kosmatopoulos; Roland Siegwart; Davide Scaramuzza 001 (Auton. Robots, 2012)

Path planning for motion dependent state estimation on micro aerial vehicles. - Markus Achtelik; Stephan Weiss 002; Margarita Chli; Roland Siegwart (ICRA, 2013)

A robust and modular multi-sensor fusion approach applied to MAV navigation. - Simon Lynen; Markus W. Achtelik; Stephan Weiss 002; Margarita Chli; Roland Siegwart (IROS, 2013)

4DoF drift free navigation using inertial cues and optical flow. - Stephan Weiss 002; Roland Brockers; Larry H. Matthies (IROS, 2013)

Monocular Vision for Long-term Micro Aerial Vehicle State Estimation: A Compendium. - Stephan Weiss 002; Markus Achtelik; Simon Lynen; Michael Achtelik; Laurent Kneip; Margarita Chli; Roland Siegwart (J. Field Robotics, 2013)

Towards Autonomous Navigation of Miniature UAV. - Roland Brockers; Martin Humenberger; Stephan Weiss 002; Larry H. Matthies (CVPR Workshops, 2014)

Stereo vision-based obstacle avoidance for micro air vehicles using disparity space. - Larry H. Matthies; Roland Brockers; Yoshiaki Kuwata; Stephan Weiss 002 (ICRA, 2014)

Vision-based Landing Site Evaluation and Trajectory Generation Toward Rooftop Landing. - Vishnu R. Desaraju; Nathan Michael; Martin Humenberger; Roland Brockers; Stephan Weiss 002; Larry H. Matthies (Robotics: Science and Systems, 2014)

Motion- and Uncertainty-aware Path Planning for Micro Aerial Vehicles. - Markus W. Achtelik; Simon Lynen; Stephan Weiss 002; Margarita Chli; Roland Siegwart (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)

Detection and characterization of moving objects with aerial vehicles using inertial-optical flow. - Daniel Meier; Roland Brockers; Larry H. Matthies; Roland Siegwart; Stephan Weiss 002 (IROS, 2015)

Inertial Optical Flow for Throw-and-Go Micro Air Vehicles. - Stephan Weiss 002; Roland Brockers; Sigurd M. Albrektsen; Larry H. Matthies (WACV, 2015)

Vision-based landing site evaluation and informed optimal trajectory generation toward autonomous rooftop landing. - Vishnu R. Desaraju; Nathan Michael; Martin Humenberger; Roland Brockers; Stephan Weiss 002; Jeremy Nash; Larry H. Matthies (Auton. Robots, 2015)

Self-calibrating multi-sensor fusion with probabilistic measurement validation for seamless sensor switching on a UAV. - Karol Hausman; Stephan Weiss 002; Roland Brockers; Larry H. Matthies; Gaurav S. Sukhatme (ICRA, 2016)

Trajectory Optimization for Self-Calibration and Navigation. - James A. Preiss; Karol Hausman; Gaurav S. Sukhatme; Stephan Weiss 002 (Robotics: Science and Systems, 2017)

Observability-Aware Trajectory Optimization for Self-Calibration With Application to UAVs. - Karol Hausman; James A. Preiss; Gaurav S. Sukhatme; Stephan Weiss 002 (IEEE Robotics Autom. Lett., 2017)

Metrics for Real-Time Mono-VSLAM Evaluation Including IMU Induced Drift with Application to UAV Flight. - Alexander Hardt-Stremayr; Matthias Schörghuber; Stephan Weiss 002; Martin Humenberger (ECCV Workshops (2), 2018)

Key-Frame Strategy During Fast Image-Scale Changes and Zero Motion in VIO Without Persistent Features. - Eren Allak; Alexander Hardt-Stremayr; Stephan Weiss 002 (IROS, 2018)

4-DOF Magnetic Field Based Localization for UAV Navigation. - Harald Gietler; Christoph Böhm 004; Tobias Mitterer; Lisa-Marie Faller; Stephan Weiss 002; Hubert Zangl (ISER, 2018)

Why and How to Avoid the Flipped Quaternion Multiplication. - Hannes Sommer; Igor Gilitschenski; Michael Bloesch; Stephan Weiss 002; Roland Siegwart; Juan I. Nieto 001 (CoRR, 2018)

Simultaneous self-calibration and navigation using trajectory optimization. - James A. Preiss; Karol Hausman; Gaurav S. Sukhatme; Stephan Weiss 002 (Int. J. Robotics Res., 2018)

Towards Fully Dense Direct Filter-Based Monocular Visual-Inertial Odometry. - Alexander Hardt-Stremayr; Stephan Weiss 002 (ICRA, 2019)

Covariance Pre-Integration for Delayed Measurements in Multi-Sensor Fusion. - Eren Allak; Roland Jung; Stephan Weiss 002 (IROS, 2019)

Visual-Inertial On-Board Throw-and-Go Initialization for Micro Air Vehicles. - Martin Scheiber; Jeff Delaune; Roland Brockers; Stephan Weiss 002 (IROS, 2019)

Monocular Visual-Inertial Odometry in Low-Textured Environments with Smooth Gradients: A Fully Dense Direct Filtering Approach. - Alexander Hardt-Stremayr; Stephan Weiss 002 (ICRA, 2020)

Decentralized Collaborative State Estimation for Aided Inertial Navigation. - Roland Jung; Christian Brommer; Stephan Weiss 002 (ICRA, 2020)

Consistent Covariance Pre-Integration for Invariant Filters with Delayed Measurements. - Eren Allak; Alessandro Fornasier; Stephan Weiss 002 (IROS, 2020)

Depth-aware Object Segmentation and Grasp Detection for Robotic Picking Tasks. - Stefan Ainetter; Christoph Böhm 004; Rohit Dhakate; Stephan Weiss 002; Friedrich Fraundorfer (BMVC, 2021)

Combined System Identification and State Estimation for a Quadrotor UAV. - Christoph Böhm 004; Christian Brommer; Alexander Hardt-Stremayr; Stephan Weiss 002 (ICRA, 2021)

Bias Compensated UWB Anchor Initialization using Information-Theoretic Supported Triangulation Points. - Julian Blueml; Alessandro Fornasier; Stephan Weiss 002 (ICRA, 2021)

VINSEval: Evaluation Framework for Unified Testing of Consistency and Robustness of Visual-Inertial Navigation System Algorithms. - Alessandro Fornasier; Martin Scheiber; Alexander Hardt-Stremayr; Roland Jung; Stephan Weiss 002 (ICRA, 2021)

Scalable Recursive Distributed Collaborative State Estimation for Aided Inertial Navigation. - Roland Jung; Stephan Weiss 002 (ICRA, 2021)

Time and Energy Optimized Trajectory Generation for Multi-Agent Constellation Changes. - Paul Ladinig; Bernhard Rinner; Stephan Weiss 002 (ICRA, 2021)

Mid-Air Range-Visual-Inertial Estimator Initialization for Micro Air Vehicles. - Martin Scheiber; Jeff Delaune; Stephan Weiss 002; Roland Brockers (ICRA, 2021)

Consistent State Estimation on Manifolds for Autonomous Metal Structure Inspection. - Bryan Starbuck; Alessandro Fornasier; Stephan Weiss 002; Cédric Pradalier (ICRA, 2021)

Filter-Based Online System-Parameter Estimation for Multicopter UAVs. - Christoph Böhm 004; Martin Scheiber; Stephan Weiss 002 (Robotics: Science and Systems, 2021)

Multidrone Systems: More Than the Sum of the Parts. - Bernhard Rinner; Christian Bettstetter; Hermann Hellwagner; Stephan Weiss 002 (Computer, 2021)

Automated Data Annotation for 6-DoF AI-Based Navigation Algorithm Development. - Javier Gibran Apud Baca; Thomas Jantos; Mario Theuermann; Mohamed Amin Hamdad; Jan Steinbrener; Stephan Weiss 002; Alexander Almer; Roland Perko (J. Imaging, 2021)

MaRS: A Modular and Robust Sensor-Fusion Framework. - Christian Brommer; Roland Jung; Jan Steinbrener; Stephan Weiss 002 (IEEE Robotics Autom. Lett., 2021)

Modular Multi-Sensor Fusion: A Collaborative State Estimation Perspective. - Roland Jung; Stephan Weiss 002 (IEEE Robotics Autom. Lett., 2021)

PoET: Pose Estimation Transformer for Single-View, Multi-Object 6D Pose Estimation. - Thomas Jantos; Mohamed Amin Hamdad; Wolfgang Granig; Stephan Weiss 002; Jan Steinbrener (CoRL, 2022)

COP: Control & Observability-aware Planning. - Christoph Böhm 004; Pascal Brault; Quentin Delamare; Paolo Robuffo Giordano; Stephan Weiss 002 (ICRA, 2022)

Equivariant Filter Design for Inertial Navigation Systems with Input Measurement Biases. - Alessandro Fornasier; Yonhon Ng; Robert E. Mahony; Stephan Weiss 002 (ICRA, 2022)

Improved State Propagation through AI-based Pre-processing and Down-sampling of High-Speed Inertial Data. - Jan Steinbrener; Christian Brommer; Thomas Jantos; Alessandro Fornasier; Stephan Weiss 002 (ICRA, 2022)

Centralized-Equivalent Pairwise Estimation with Asynchronous Communication Constraints for two Robots. - Eren Allak; Axel Barrau; Roland Jung; Jan Steinbrener; Stephan Weiss 002 (IROS, 2022)

Kinematics-Inertial Fusion for Localization of a 4-Cable Underactuated Suspended Robot Considering Cable Sag. - Eren Allak; Rooholla Khorrambakht; Christian Brommer; Stephan Weiss 002 (IROS, 2022)

Autonomous Control of Redundant Hydraulic Manipulator Using Reinforcement Learning with Action Feedback. - Rohit Dhakate; Christian Brommer; Christoph Böhm 004; Harald Gietler; Stephan Weiss 002; Jan Steinbrener (IROS, 2022)

Scalable and Modular Ultra-Wideband Aided Inertial Navigation. - Roland Jung; Stephan Weiss 002 (IROS, 2022)

Tightly-Coupled EKF-Based Radar-Inertial Odometry. - Jan Michalczyk; Roland Jung; Stephan Weiss 002 (IROS, 2022)

Forestry Crane Automation using Learning-based Visual Grasping Point Prediction. - Harald Gietler; Christoph Böhm 004; Stefan Ainetter; Christian Schöffmann; Friedrich Fraundorfer; Stephan Weiss 002; Hubert Zangl (SAS, 2022)

INSANE: Cross-Domain UAV Data Sets with Increased Number of Sensors for developing Advanced and Novel Estimators. - Christian Brommer; Alessandro Fornasier; Martin Scheiber; Jeff Delaune; Roland Brockers; Jan Steinbrener; Stephan Weiss 002 (CoRR, 2022)

Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation With Online Calibration. - Alessandro Fornasier; Yonhon Ng; Christian Brommer; Christoph Böhm 004; Robert E. Mahony; Stephan Weiss 002 (IEEE Robotics Autom. Lett., 2022)

CNS Flight Stack for Reproducible, Customizable, and Fully Autonomous Applications. - Martin Scheiber; Alessandro Fornasier; Roland Jung; Christoph Böhm 004; Rohit Dhakate; Christian Stewart; Jan Steinbrener; Stephan Weiss 002; Christian Brommer (IEEE Robotics Autom. Lett., 2022)

Revisiting Multi-GNSS Navigation for UAVs - An Equivariant Filtering Approach. - Martin Scheiber; Alessandro Fornasier; Christian Brommer; Stephan Weiss 002 (ICAR, 2023)

AI-Based Multi-Object Relative State Estimation with Self-Calibration Capabilities. - Thomas Jantos; Christian Brommer; Eren Allak; Stephan Weiss 002; Jan Steinbrener (ICRA, 2023)

Multi-State Tightly-Coupled EKF-Based Radar-Inertial Odometry With Persistent Landmarks. - Jan Michalczyk; Roland Jung; Christian Brommer; Stephan Weiss 002 (ICRA, 2023)

FUSE-D: Framework for UAV System-Parameter Estimation with Disturbance Detection. - Christoph Böhm 004; Stephan Weiss 002 (IROS, 2023)

UVIO: An UWB-Aided Visual-Inertial Odometry Framework with Bias-Compensated Anchors Initialization. - Giulio Delama; Farhad Shamsfakhr; Stephan Weiss 002; Daniele Fontanelli; Alessandro Fornasier (IROS, 2023)

Graph-Based Visual-Kinematic Fusion and Monte Carlo Initialization for Fast-Deployable Cable-Driven Robots. - Rooholla Khorrambakht; Hamed Damirchi; M. R. Dindarloo; A. Saki; S. A. Khalilpour; Hamid D. Taghirad; Stephan Weiss 002 (IROS, 2023)

Deterministic Framework based Structured Learning for Quadrotors. - Rupam Singh; Jan Steinbrener; Stephan Weiss 002 (MMAR, 2023)

Radar-Inertial Odometry for Closed-Loop Control of Resource-Constrained Aerial Platforms. - Jan Michalczyk; Martin Scheiber; Roland Jung; Stephan Weiss 002 (SSRR, 2023)

Equivariant Symmetries for Inertial Navigation Systems. - Alessandro Fornasier; Yixiao Ge; Pieter van Goor; Robert E. Mahony; Stephan Weiss 002 (CoRR, 2023)

An Equivariant Approach to Robust State Estimation for the ArduPilot Autopilot System. - Alessandro Fornasier; Yixiao Ge; Pieter van Goor; Martin Scheiber; Andrew Tridgell; Robert E. Mahony; Stephan Weiss 002 (ICRA, 2024)

A Graph-Based Self-Calibration Technique for Cable-Driven Robots with Sagging Cable. - M. R. Dindarloo; A. S. Mirjalili; S. A. Khalilpour; Rooholla Khorrambakht; Stephan Weiss 002; Hamid D. Taghirad (IROS, 2024)

Modular Meshed Ultra-Wideband Aided Inertial Navigation with Robust Anchor Calibration. - Roland Jung; Luca Santoro; Davide Brunelli; Daniele Fontanelli; Stephan Weiss 002 (IROS, 2024)

Tightly-Coupled Factor Graph Formulation For Radar-Inertial Odometry. - Jan Michalczyk; Julius Quell; Florian Steidle; Marcus Gerhard Müller; Stephan Weiss 002 (IROS, 2024)

AIVIO: Closed-loop, Object-relative Navigation of UAVs with AI-aided Visual Inertial Odometry. - Thomas Jantos; Martin Scheiber; Christian Brommer; Eren Allak; Stephan Weiss 002; Jan Steinbrener (CoRR, 2024)

The INSANE dataset: Large number of sensors for challenging UAV flights in Mars analog, outdoor, and out-/indoor transition scenarios. - Christian Brommer; Alessandro Fornasier; Martin Scheiber; Jeff Delaune; Roland Brockers; Jan Steinbrener; Stephan Weiss 002 (Int. J. Robotics Res., 2024)

MSCEqF: A Multi State Constraint Equivariant Filter for Vision-Aided Inertial Navigation. - Alessandro Fornasier; Pieter van Goor; Eren Allak; Robert E. Mahony; Stephan Weiss 002 (IEEE Robotics Autom. Lett., 2024)

AAU_Multi_Agent_UVDAR_Dataset. - Roland Jung; Jiri Horyna; Martin Saska; Stephan Weiss 002 (Zenodo, 2024)

AAU_Multi_Agent_UVDAR_Dataset. - Roland Jung; Jiri Horyna; Martin Saska; Stephan Weiss 002 (Zenodo, 2024)

Sensor Model Identification via Simultaneous Model Selection and State Variable Determination. - Christian Brommer; Alessandro Fornasier; Jan Steinbrener; Stephan Weiss 002 (IEEE Trans. Robotics, 2025)

Equivariant IMU Preintegration With Biases: A Galilean Group Approach. - Giulio Delama; Alessandro Fornasier; Robert E. Mahony; Stephan Weiss 002 (IEEE Robotics Autom. Lett., 2025)

Isolated Kalman filtering: theory and decoupled estimator design. - Roland Jung; Lukas Luft; Stephan Weiss 002 (Auton. Robots, 2025)

Autonomous Control of Redundant Hydraulic Manipulator Using Reinforcement Learning with Action Feedback. - Rohit Dhakate; Christian Brommer; Christoph Böhm 004; Stephan Weiss 002; Jan Steinbrener (CoRR, 2025)

Real-Time Initialization of Unknown Anchors for UWB-aided Navigation. - Giulio Delama; Igor Borowski; Roland Jung; Stephan Weiss 002 (CoRR, 2025)

Learning Point Correspondences In Radar 3D Point Clouds For Radar-Inertial Odometry. - Jan Michalczyk; Stephan Weiss 002; Jan Steinbrener (CoRR, 2025)

CaRoSaC: A Reinforcement Learning-Based Kinematic Control of Cable-Driven Parallel Robots by Addressing Cable Sag Through Simulation. - Rohit Dhakate; Thomas Jantos; Eren Allak; Stephan Weiss 002; Jan Steinbrener (IEEE Robotics Autom. Lett., 2025)

Swarming Without an Anchor (SWA): Robot Swarms Adapt Better to Localization Dropouts Then a Single Robot. - Jiri Horyna; Roland Jung; Stephan Weiss 002; Eliseo Ferrante; Martin Saska (IEEE Robotics Autom. Lett., 2025)

The Difference between the Left and Right Invariant Extended Kalman Filter. - Yixiao Ge; Giulio Delama; Martin Scheiber; Alessandro Fornasier; Pieter van Goor; Stephan Weiss 002; Robert E. Mahony (CoRR, 2025)

Consistent Pose Estimation of Unmanned Ground Vehicles through Terrain-Aided Multi-Sensor Fusion on Geometric Manifolds. - Alexander Raab; Stephan Weiss 002; Alessandro Fornasier; Christian Brommer; Abdalrahman Ibrahim (CoRR, 2025)