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3D Lidar Reconstruction with Probabilistic Depth Completion for Robotic Navigation
Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such …
Yifu Tao
,
Marija Popović
,
Yiduo Wang
,
Sundara Tejaswi Digumarti
,
Nived Chebrolu
,
Maurice Fallon
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Informative Path Planning for Active Learning in Aerial Semantic Mapping
Semantic segmentation of aerial imagery is an important tool for mapping and earth observation. However, supervised deep learning …
Julius Rückin
,
Liren Jin
,
Federico Magistri
,
Cyrill Stachniss
,
Marija Popović
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Adaptive Informative Path Planning Using Deep Reinforcement Learning for UAV-based Active Sensing
Aerial robots are increasingly being utilized for environmental monitoring and exploration. However, a key challenge is efficiently …
Julius Rückin
,
Liren Jin
,
Marija Popović
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Adaptive Path Planning for UAV-based Multi-Resolution Semantic Segmentation
In this paper, we address the problem of adaptive path planning for accurate semantic segmentation of terrain using unmanned aerial …
Felix Stache
,
Jonas Westheider
,
Federico Magistri
,
Marija Popović
,
Cyrill Stachniss
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Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks
We present an efficient, elastic 3D LiDAR reconstruction framework which can reconstruct up to maximum LiDAR ranges (60 m) at multiple …
Yiduo Wang
,
Nils Funk
,
Milad Ramezani
,
Sotiris Papatheodorou
,
Marija Popović
,
Marco Camurri
,
Stefan Leutenegger
,
Maurice Fallon
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Video
Aerial Manipulation Using Hybrid Force and Position NMPC Applied to Aerial Writing
Aerial manipulation aims at combining the maneuverability of aerial vehicles with the manipulation capabilities of robotic arms. This, …
Dimos Tzoumanikas
,
Felix Graule
,
Qingyue Yan
,
Dhruv Shah
,
Marija Popović
,
Stefan Leutenegger
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Video
Informative Path Planning for Active Field Mapping under Localization Uncertainty
Information gathering algorithms play a key role in unlocking the potential of robots for efficient data collection in a wide range of …
Marija Popović
,
Teresa Vidal-Calleja
,
Jen Jen Chung
,
Juan Nieto
,
Roland Siegwart
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Active Learning for UAV-based Semantic Mapping
Unmanned aerial vehicles combined with computer vision systems, such as convolutional neural networks, offer a flexible and affordable …
Hermann Blum
,
Silvan Rohrbach
,
Marija Popović
,
Luca Bartolomei
,
Roland Siegwart
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Obstacle-aware Adaptive Informative Path Planning for UAV-based Target Search
Target search with unmanned aerial vehicles (UAVs) is relevant problem to many scenarios, e.g., search and rescue (SaR). However, a key …
Ajith Anil Meera
,
Marija Popović
,
Alexander Millane
,
Roland Siegwart
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Navigation aware planning for tandem UAV missions in GNSS challenging environments
Flavia Causa
,
Marija Popović
,
Giancarmine Fasano
,
Michele Grassi
,
Juan Nieto
,
Roland Siegwart
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