Publications

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. Autonomous Navigation in Inclement Weather based on a Localizing Ground Penetrating Radar. In ICRA (accepted), 2020.

. Deep Orientation Uncertainty Learning based on a Bingham Loss. In ICLR (accepted), 2020.

. MapLite: Autonomous Intersection Navigation without a Detailed Prior Map. In RA-L, 2020.

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. Learning Robust Control Policies for End-to-End Autonomous Driving from Data-Driven Simulation. In RA-L, 2020.

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. Infrastructure-free NLoS Obstacle Detection for Autonomous Cars. In IROS, 2019.

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. Range-based Cooperative Localization with Nonlinear Observability Analysis. In ITSC, 2019.

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. Probabilistic Risk Metrics for Navigating Occluded Intersections. In RA-L, 2019.

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. Appearance-Based Landmark Selection for Visual Localization. In JFR, 2019.

. Data-Dependent Coresets for Compressing Neural Networks with Applications to Generalization Bounds. In ICLR, 2019.

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. Directional Statistics and Filtering Using libDirectional. In JSS, 2019.

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. Inferring Pedestrian Motions at Urban Crosswalks. In Tr-ITS, 2019.

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. The Voliro Omniorientational Hexacopter: An Agile and Maneuverable Tiltable-Rotor Aerial Vehicle. In RAM, 2018.

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. ShadowCam: Real-Time Detection of Moving Obstacles behind a Corner for Autonomous Vehicles. In ITSC, 2018.

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. LandmarkBoost: Efficient Visual Context Classifiers for Robust Localization. In IROS, 2018.

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. Why and How to Avoid the Flipped Quaternion Multiplication. In Aerospace, 2018.

. maplab: An Open Framework for Research in Visual-inertial Mapping and Localization. In RA-L, 2018.

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. Incremental Segment-Based Localization in 3D Point Clouds. In RA-L, 2018.

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. Free LSD: Prior-Free Visual Landing Site Detection for Autonomous Planes. In RA-L, 2018.

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. Sampling-Based Approximation Algorithms for Reachability Analysis with Provable Guarantees. In RSS, 2018.

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. Map Management for Efficient Long-Term Visual Localization in Outdoor Environments. In IV, 2018.

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. Onboard Real-time Dense Reconstruction of Large-scale Environments for UAV. In IROS, 2017.

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. A Low-Cost System for High-Rate, High-Accuracy Temporal Calibration for LIDARs and Cameras. In IROS, 2017.

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. Evaluation of Combined Time-Offset Estimation and Hand-Eye Calibration on Robotic Datasets. In FSR, 2017.

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. Visual-Inertial Self-Calibration on Informative Motion Segments. In ICRA, 2017.

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. TSDF-Based Change Detection for Consistent Long-Term Dense Reconstruction and Dynamic Object Discovery. In ICRA, 2017.

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. Map Quality Evaluation for Visual Localization. In ICRA, 2017.

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. Efficient Descriptor Learning for Large Scale Localization. In ICRA, 2017.

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. Gone with the Wind: Nonlinear Guidance for Small Fixed-Wing Aircrafts in Arbitrarily Strong Windfields. In ACC, 2017.

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. Robust Estimation and Applications in Robotics. In Foundations and Trends in Robotics., 2016.

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. Monocular Visual-Inertial SLAM for Fixed-Wing UAVs Using Sliding Window Based Nonlinear Optimization. In ISVC, 2016.

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. A Data-Driven Approach for Pedestrian Intention Estimation. In ITSC, 2016.

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. Will it last? Learning Stable Features for Long-Term Visual Localization. In 3DV, 2016.

. Robust Map Generation for Fixed-Wing UAVs with Low-Cost Highly-Oblique Monocular Cameras. In IROS, 2016.

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. Generalized Information Filtering for MAV Parameter Estimation. In IROS, 2016.

. Erasing Bad Memories: Agent-Side Summarization for Long-Term Mapping. In IROS, 2016.

. Appearance-Based Landmark Selection for Efficient Long-Term Visual Localization. In IROS, 2016.

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. Optimal Quantization of Circular Distributions. In Fusion, 2016.

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. Non-Parametric Extrinsic and Intrinsic Calibration of Visual-Inertial Sensor Systems. In IEEE Sensors, 2016.

. Unscented von Mises-Fisher Filtering. In IEEE Signal Processing Letters, 2016.

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. Recursive Bayesian Filtering in Circular State Spaces. In IEEE Aerospace and Electronic Systems Magazine, 2016.

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. Unscented Orientation Estimation Based on the Bingham Distribution. In IEEE Transactions on Automatic Control, 2016.

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. Exact and Approximate Hidden Markov Chain Filters Based on Discrete Observations. In Statistics & Risk Modelling (SRM), 2015.

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. A Stochastic Filter for Planar Rigid-Body Motions. In MFI, 2015.

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. Non-Identity Measurement Models for Orientation Estimation Based on Directional Statistics. In Fusion, 2015.

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. Bivariate Angular Estimation Under Consideration of Dependencies Using Directional Statistics. In CDC, 2014.

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. Recursive Bingham Filter for Directional Estimation Involving 180 Degree Symmetry. In Journal of Advances in Information Fusion, 2014.

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. Efficient Evaluation of the Probability Density Function of a Wrapped Normal Distribution. In SDF, 2014.

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. A Direct Method for Checking Overlap of Two Hyperellipsoids. In SDF, 2014.

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. The Partially Wrapped Normal Distribution for SE(2) Estimation. In MFI, 2014.

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. Efficient Bingham Filtering based on Saddlepoint Approximations. In MFI, 2014.

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. Deterministic Dirac Mixture Approximation of Gaussian Mixtures. In Fusion, 2014.

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. Deterministic Approximation of Circular Densities with Symmetric Dirac Mixtures Based on Two Circular Moments. In Fusion, 2014.

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. A New Probability Distribution for Simultaneous Representation of Uncertain Position and Orientation. In Fusion, 2014.

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. Nonlinear Measurement Update for Estimation of Angular Systems Based on Circular Distributions. In ACC, 2014.

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. Recursive Estimation of Orientation Based on the Bingham Distribution. In Fusion, 2013.

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. Bearings-Only Sensor Scheduling Using Circular Statistics. In Fusion, 2013.

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. Recursive Nonlinear Filtering for Angular Data Based on Circular Distributions. In ACC, 2013.

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. Efficient Deterministic Dirac Mixture Approximation. In ACC, 2013.

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

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