Publications

Xiao Li, Igor Gilitschenski, Guy Rosman, Sertac Karaman, Daniela Rus (2023). Multi-Abstractive Neural Controller: An Efficient Hierarchical Control Architecture for Interactive Driving. RA-L.

PDF

Ashkan Mirzaei, Tristan Aumentado-Armstrong, Konstantinos G. Derpanis, Jonathan Kelly, Marcus A. Brubaker, Igor Gilitschenski, Alex Levinshtein (2023). SPIn-NeRF: Multiview Segmentation and Perceptual Inpainting with Neural Radiance Fields. CVPR.

PDF Cite Code Dataset Video

Samarth Sinha, Jason Y. Zhang, Andrea Tagliasacchi, Igor Gilitschenski, David B. Lindell (2023). SparsePose: Sparse-View Camera Pose Regression and Refinement. CVPR.

Preprint Cite

Yash Kant, Aliaksandr Siarohin, Riza Alp Guler, Menglei Chai, Jian Ren, Sergey Tulyakov, Igor Gilitschenski (2023). Invertible Neural Skinning. CVPR.

Preprint Cite Project

Tim Seyde, Peter Werner, Wilko Schwarting, Igor Gilitschenski, Martin Riedmiller, Daniela Rus, Markus Wulfmeier (2023). Solving Continuous Control via Q-Learning. ICLR.

Preprint Cite

Teddy Ort, Igor Gilitschenski, Daniela Rus (2023). GROUNDED: A Localizing Ground Penetrating Radar Evaluation Dataset for Learning to Localize in Inclement Weather. IJRR (accepted).

PDF

Ashkan Mirzaei, Yash Kant, Jonathan Kelly, Igor Gilitschenski (2022). LaTeRF: Label and Text Driven Object Radiance Fields. ECCV.

PDF Cite Code Video

Yash Kant, Arun Ramachandran, Sriram Yenamandra, Igor Gilitschenski, Dhruv Batra, Andrew Szot*, Harsh Agrawal* (2022). Housekeep: Tidying Virtual Households using Commonsense Reasoning. ECCV.

PDF Cite Code Video

Teddy Ort, Jeffrey M. Walls, Steven A. Parkison, Igor Gilitschenski, Daniela Rus (2022). MapLite 2.0: Online HD Map Inference Using a Prior SD Map. RA-L.

PDF Cite

Ryan Sander, Wilko Schwarting, Tim Seyde, Igor Gilitschenski, Sertac Karaman, Daniela Rus (2022). Neighborhood Mixup Experience Replay: Local Convex Interpolation for Improved Sample Efficiency in Continuous Control Tasks. L4DC.

PDF Cite Project

Alexander Amini, Tsun-Hsuan Wang, Igor Gilitschenski, Wilko Schwarting, Zhijian Liu, Song Han, Sertac Karaman, Daniela Rus (2022). VISTA 2.0: An Open, Data-driven Simulator for Multimodal Sensing and Policy Learning for Autonomous Vehicles. ICRA.

PDF Cite Code Project

Tsun-Hsuan Wang, Alexander Amini, Wilko Schwarting, Igor Gilitschenski, Sertac Karaman, Daniela Rus (2022). Learning Interactive Driving Policies via Data-driven Simulation. ICRA.

PDF Cite Code Project

Xin Huang, Guy Rosman, Igor Gilitschenski, Ashkan M. Jasour, Stephen McGill, John Leonard, Brian Williams (2022). HYPER: Learned Hybrid Trajectory Prediction via Factored Inference and Adaptive Sampling. ICRA.

PDF Cite

Yutong Ban, Xiao Li, Guy Rosman, Igor Gilitschenski, Ozanan Meireles, Sertac Karaman, Daniela Rus (2022). A Deep Concept Graph Network for Interaction-Aware Trajectory Prediction. ICRA.

PDF Cite

Xiao Li, Guy Rosman, Igor Gilitschenski, Brandon Araki, Cristian-Ioan Vasile, Sertac Karaman, Daniela Rus (2022). Learning An Explainable Trajectory Generator Using The Automaton Generative Network (AGN). RA-L.

PDF Cite

Cenk Baykal, Lucas Liebenwein, Igor Gilitschenski, Dan Feldman, Daniela Rus (2022). Sensitivity-Informed Provable Pruning of Neural Networks. SIMODS.

PDF

Tim Seyde, Igor Gilitschenski, Wilko Schwarting, Bartolomeo Stellato, Martin Riedmiller, Markus Wulfmeier, Daniela Rus (2021). Is Bang-Bang Control All You Need? Solving Continuous Control with Bernoulli Policies. NeurIPS.

PDF

Tim Seyde, Wilko Schwarting, Igor Gilitschenski, Markus Wulfmeier, Daniela Rus (2021). Strength Through Diversity: Robust Behavior Learning via Mixture Policies. CoRL.

PDF

Teddy Ort, Igor Gilitschenski, Daniela Rus (2021). GROUNDED: The Localizing Ground Penetrating Radar Evaluation Dataset. RSS.

PDF Project

Xiao Li, Guy Rosman, Igor Gilitschenski, Cristian-Ioan Vasile, Jonathan DeCastro, Sertac Karaman, Daniela Rus (2021). Vehicle Trajectory Prediction Using Generative Adversarial Network with Temporal Logic Syntax Tree Features. RA-L.

PDF

Xiao Li, Guy Rosman, Igor Gilitschenski, Jonathan DeCastro, Cristian-Ioan Vasile, Sertac Karaman, Daniela Rus (2020). Differentiable Logic Layer for Rule Guided Trajectory Prediction. CoRL.

PDF Video

Wilko Schwarting, Tim Seyde, Igor Gilitschenski, Lucas Liebenwein, Ryan Sander, Sertac Karaman, Daniela Rus (2020). Deep Latent Competition: Learning to Race Using Visual Control Policies in Latent Space. CoRL.

PDF Code Project

Chenxi Ye, Yiduo Wang, Ziwen Lu, Igor Gilitschenski, Martin Parsley, Simon J. Julier (2020). Exploiting Semantic and Public Prior Information in MonoSLAM. IROS.

PDF

Igor Gilitschenski, Guy Rosman, Arjun Gupta, Sertac Karaman, Daniela Rus (2020). Deep Context Maps: Agent Trajectory Prediction using Location-specific Latent Maps. RA-L.

PDF

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

PDF Code Video

Teddy Ort, Krishna Murthy, Rohan Banerjee, Sai Krishna Gottipati, Dhaivat Bhatt, Igor Gilitschenski, Liam Paull, Daniela Rus (2020). MapLite: Autonomous Intersection Navigation without a Detailed Prior Map. RA-L.

PDF

Alexander Amini, Igor Gilitschenski, Jacob Philips, Julia Moseyko, Rohan Banerjee, Sertac Karaman, Daniela Rus (2020). Learning Robust Control Policies for End-to-End Autonomous Driving from Data-Driven Simulation. RA-L.

PDF Code Project Video

Teddy Ort, Igor Gilitschenski, Daniela Rus (2020). Autonomous Navigation in Inclement Weather based on a Localizing Ground Penetrating Radar. RA-L.

PDF Video

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

PDF

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

PDF

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

PDF Video

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

PDF

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

PDF

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

Preprint PDF Code

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

PDF

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

Preprint Video

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

PDF

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

PDF

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

PDF

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

PDF Code Video

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

PDF

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

PDF Video

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

Timo Hinzmann, Thomas Stastny, Gianpaolo Conte, Patrick Doherty, Piotr Rudol, Marius Wzorek, Enric Galceran, Roland Siegwart, Igor Gilitschenski (2016). Collaborative 3D Reconstruction using Heterogeneous UAVs: System and Experiments. ISER.

PDF Dataset

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF