Publications

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Igor Gilitschenski, Roshni Sahoo, Wilko Schwarting, Alexander Amini, Sertac Karaman, Daniela Rus. Deep Orientation Uncertainty Learning based on a Bingham Loss. In ICLR (accepted), 2020.

Alexander Amini, Igor Gilitschenski, Jacob Philips, Julia Moseyko, Sertac Karaman, Daniela Rus. Learning Robust Control Policies for End-to-End Autonomous Driving from Data-Driven Simulation. In RA-L (accepted), 2019.

Teddy Ort, Krishna Murthy, Rohan Banerjee, Sai Krishna Gottipati, Dhaivat Bhatt, Igor Gilitschenski, Liam Paull, Daniela Rus. MapLite: Autonomous Intersection Navigation without a Detailed Prior Map. In RA-L (accepted), 2019.

Felix Naser, Igor Gilitschenski, Alexander Amini, Christina Liao, Guy Rosman, Sertac Karaman, Daniela Rus. Infrastructure-free NLoS Obstacle Detection for Autonomous Cars. In IROS, 2019.

Brandon Araki, Igor Gilitschenski, Tatum Ogata, Alex Wallar, Wilko Schwarting, Zareen Choudhury, Sertac Karaman, Daniela Rus. Range-based Cooperative Localization with Nonlinear Observability Analysis. In ITSC, 2019.

Stephen G. McGill, Guy Rosman, Teddy Ort, Alyssa Pierson, Igor Gilitschenski, Brandon Araki, Luke Fletcher, Sertac Karaman, Daniela Rus, John J. Leonard. Probabilistic Risk Metrics for Navigating Occluded Intersections. In RA-L, 2019.

Mathias Bürki, Cesar Cadena, Igor Gilitschenski, Roland Siegwart, Juan Nieto. Appearance-Based Landmark Selection for Visual Localization. In JFR, 2019.

Cenk Baykal, Lucas Liebenwein, Igor Gilitschenski, Dan Feldman, Daniela Rus. Data-Dependent Coresets for Compressing Neural Networks with Applications to Generalization Bounds. In ICLR, 2019.

Gerhard Kurz, Igor Gilitschenski, Florian Pfaff, Lukas Drude, Uwe D. Hanebeck, Reinhold Haeb-Umbach, Roland Y. Siegwart. Directional Statistics and Filtering Using libDirectional. In JSS, 2019.

Benjamin Völz, Holger Mielenz, Igor Gilitschenski, Roland Siegwart, Juan Nieto. Inferring Pedestrian Motions at Urban Crosswalks. In Tr-ITS, 2019.

Mina Kamel, Sebastian Verling, Omar Elkhatib, Christian Sprecher, Paula Wulkop, Zachary Taylor, Roland Siegwart, Igor Gilitschenski. The Voliro Omniorientational Hexacopter: An Agile and Maneuverable Tiltable-Rotor Aerial Vehicle. In RAM, 2018.

Felix Naser, Igor Gilitschenski, Guy Rosman, Alexander Amini, Fredo Durand, Antonio Torralba, Gregory W. Wornell, William T. Freeman, Sertac Karaman, Daniela Rus. ShadowCam: Real-Time Detection of Moving Obstacles behind a Corner for Autonomous Vehicles. In ITSC, 2018.

Marcin Dymczyk, Igor Gilitschenski, Juan Nieto, Simon Lynen, Bernhard Zeisl, Roland Siegwart. LandmarkBoost: Efficient Visual Context Classifiers for Robust Localization. In IROS, 2018.

Hannes Sommer, Igor Gilitschenski, Michael Bloesch, Stephan Weiss, Roland Siegwart, Juan Nieto. Why and How to Avoid the Flipped Quaternion Multiplication. In Aerospace, 2018.

Thomas Schneider, Marcin Dymczyk, Marius Fehr, Kevin Egger, Simon Lynen, Igor Gilitschenski, Roland Siegwart. maplab: An Open Framework for Research in Visual-inertial Mapping and Localization. In RA-L, 2018.

Renaud Dubé, Mattia G. Gollub, Hannes Sommer, Igor Gilitschenski, Roland Siegwart, Cesar Cadena, Juan Nieto. Incremental Segment-Based Localization in 3D Point Clouds. In RA-L, 2018.

Timo Hinzmann, Thomas Stastny, Cesar Cadena, Roland Siegwart, Igor Gilitschenski. Free LSD: Prior-Free Visual Landing Site Detection for Autonomous Planes. In RA-L, 2018.

Lucas Liebenwein, Cenk Baykal, Igor Gilitschenski, Sertac Karaman, Daniela Rus. Sampling-Based Approximation Algorithms for Reachability Analysis with Provable Guarantees. In RSS, 2018.

Matthias Bürki, Marcin Dymczyk, Igor Gilitschenski, Cesar Cadena, Roland Siegwart, Juan Nieto. Map Management for Efficient Long-Term Visual Localization in Outdoor Environments. In IV, 2018.

Anurag Sai Vempati, Igor Gilitschenski, Juan Nieto, Paul Beardsley, Roland Siegwart. Onboard Real-time Dense Reconstruction of Large-scale Environments for UAV. In IROS, 2017.

Hannes Sommer, Raghav Khanna, Igor Gilitschenski, Zachary Taylor, Roland Siegwart, Juan Nieto. A Low-Cost System for High-Rate, High-Accuracy Temporal Calibration for LIDARs and Cameras. In IROS, 2017.

Fadri Furrer, Marius Fehr, Tonci Novkovic, Igor Gilitschenski, Paul Beardsley, Roland Siegwart. Evaluation of Combined Time-Offset Estimation and Hand-Eye Calibration on Robotic Datasets. In FSR, 2017.

Thomas Schneider, Mingyang Li, Michael Burri, Juan Nieto, Roland Siegwart, Igor Gilitschenski. Visual-Inertial Self-Calibration on Informative Motion Segments. In ICRA, 2017.

Marius Fehr, Fadri Furrer, Ivan Dryanovski, Jürgen Sturm, Igor Gilitschenski, Roland Siegwart, Cesar Cadena. TSDF-Based Change Detection for Consistent Long-Term Dense Reconstruction and Dynamic Object Discovery. In ICRA, 2017.

Hamza Merzic, Elena Stumm, Marcin Dymczyk, Roland Siegwart, Igor Gilitschenski. Map Quality Evaluation for Visual Localization. In ICRA, 2017.

Antonio Loquercio, Marcin Dymczyk, Bernhard Zeisl, Simon Lynen, Igor Gilitschenski, Roland Siegwart. Efficient Descriptor Learning for Large Scale Localization. In ICRA, 2017.

Luca Furieri, Thomas Stastny, Lorenzo Marconi, Roland Siegwart, Igor Gilitschenski. Gone with the Wind: Nonlinear Guidance for Small Fixed-Wing Aircrafts in Arbitrarily Strong Windfields. In ACC, 2017.

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Michael Bosse, Gabriel Agamennoni, Igor Gilitschenski. Robust Estimation and Applications in Robotics. In Foundations and Trends in Robotics., 2016.

Timo Hinzmann, Thomas Schneider, Marcin Dymczyk, Andreas Schaffner, Simon Lynen, Roland Siegwart, Igor Gilitschenski. Monocular Visual-Inertial SLAM for Fixed-Wing UAVs Using Sliding Window Based Nonlinear Optimization. In ISVC, 2016.

Benjamin Völz, Karsten Behrendt, Holger Mielenz, Igor Gilitschenski, Roland Siegwart, Juan Nieto. A Data-Driven Approach for Pedestrian Intention Estimation. In ITSC, 2016.

Marcin Dymczyk, Elena Stumm, Juan Nieto, Roland Siegwart, Igor Gilitschenski. Will it last? Learning Stable Features for Long-Term Visual Localization. In 3DV, 2016.

Timo Hinzmann, Thomas Schneider, Marcin Dymczyk, Amir Melzer, Thomas Mantel, Roland Siegwart, Igor Gilitschenski. Robust Map Generation for Fixed-Wing UAVs with Low-Cost Highly-Oblique Monocular Cameras. In IROS, 2016.

Michael Burri, Michael Blösch, Dominik Schindler, Igor Gilitschenski, Zachary Taylor, Roland Siegwart. Generalized Information Filtering for MAV Parameter Estimation. In IROS, 2016.

Marcin Dymczyk, Thomas Schneider, Igor Gilitschenski, Roland Siegwart, Elena Stumm. Erasing Bad Memories: Agent-Side Summarization for Long-Term Mapping. In IROS, 2016.

Matthias Bürki, Igor Gilitschenski, Elena Stumm, Roland Siegwart, Juan Nieto. Appearance-Based Landmark Selection for Efficient Long-Term Visual Localization. In IROS, 2016.

Igor Gilitschenski, Gerhard Kurz, Uwe D. Hanebeck, Roland Siegwart. Optimal Quantization of Circular Distributions. In Fusion, 2016.

Janosch Nikolic, Michael Burri, Igor Gilitschenski, Juan Nieto, Roland Siegwart. Non-Parametric Extrinsic and Intrinsic Calibration of Visual-Inertial Sensor Systems. In IEEE Sensors, 2016.

Gerhard Kurz, Igor Gilitschenski, Uwe D. Hanebeck. Unscented von Mises-Fisher Filtering. In IEEE Signal Processing Letters, 2016.

Gerhard Kurz, Igor Gilitschenski, Uwe D. Hanebeck. Recursive Bayesian Filtering in Circular State Spaces. In IEEE Aerospace and Electronic Systems Magazine, 2016.

Igor Gilitschenski, Gerhard Kurz, Simon J. Julier, Uwe D. Hanebeck. Unscented Orientation Estimation Based on the Bingham Distribution. In IEEE Transactions on Automatic Control, 2016.

Nicole Bäuerle, Igor Gilitschenski, Uwe Hanebeck. Exact and Approximate Hidden Markov Chain Filters Based on Discrete Observations. In Statistics & Risk Modelling (SRM), 2015.

Igor Gilitschenski, Gerhard Kurz, Uwe D. Hanebeck. A Stochastic Filter for Planar Rigid-Body Motions. In MFI, 2015.

Igor Gilitschenski, Gerhard Kurz, Uwe D. Hanebeck. Non-Identity Measurement Models for Orientation Estimation Based on Directional Statistics. In Fusion, 2015.

Gerhard Kurz, Igor Gilitschenski, Maxim Dolgov, Uwe D. Hanebeck. Bivariate Angular Estimation Under Consideration of Dependencies Using Directional Statistics. In CDC, 2014.

Gerhard Kurz, Igor Gilitschenski, Simon J. Julier, Uwe D. Hanebeck. Recursive Bingham Filter for Directional Estimation Involving 180 Degree Symmetry. In Journal of Advances in Information Fusion, 2014.

Gerhard Kurz, Igor Gilitschenski, Uwe D. Hanebeck. Efficient Evaluation of the Probability Density Function of a Wrapped Normal Distribution. In SDF, 2014.

Igor Gilitschenski, Uwe D. Hanebeck. A Direct Method for Checking Overlap of Two Hyperellipsoids. In SDF, 2014.

Gerhard Kurz, Igor Gilitschenski, Uwe D. Hanebeck. The Partially Wrapped Normal Distribution for SE(2) Estimation. In MFI, 2014.

Igor Gilitschenski, Gerhard Kurz, Simon J. Julier, Uwe D. Hanebeck. Efficient Bingham Filtering based on Saddlepoint Approximations. In MFI, 2014.

Igor Gilitschenski, Jannik Steinbring, Uwe D. Hanebeck, Miroslav Simandl. Deterministic Dirac Mixture Approximation of Gaussian Mixtures. In Fusion, 2014.

Gerhard Kurz, Igor Gilitschenski, Uwe D. Hanebeck. Deterministic Approximation of Circular Densities with Symmetric Dirac Mixtures Based on Two Circular Moments. In Fusion, 2014.

Igor Gilitschenski, Gerhard Kurz, Simon J. Julier, Uwe D. Hanebeck. A New Probability Distribution for Simultaneous Representation of Uncertain Position and Orientation. In Fusion, 2014.

Gerhard Kurz, Igor Gilitschenski, Uwe D. Hanebeck. Nonlinear Measurement Update for Estimation of Angular Systems Based on Circular Distributions. In ACC, 2014.

Gerhard Kurz, Igor Gilitschenski, Simon J. Julier, Uwe D. Hanebeck. Recursive Estimation of Orientation Based on the Bingham Distribution. In Fusion, 2013.

Igor Gilitschenski, Gerhard Kurz, Uwe D. Hanebeck. Bearings-Only Sensor Scheduling Using Circular Statistics. In Fusion, 2013.

Gerhard Kurz, Igor Gilitschenski, Uwe D. Hanebeck. Recursive Nonlinear Filtering for Angular Data Based on Circular Distributions. In ACC, 2013.

Igor Gilitschenski, Uwe D. Hanebeck. Efficient Deterministic Dirac Mixture Approximation. In ACC, 2013.

Igor Gilitschenski, Uwe D. Hanebeck. A Robust Computational Test for Overlap of Two Arbitrary-dimensional Ellipsoids in Fault-Detection of Kalman Filters. In Fusion, 2012.