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Simon Schaefer
PhD StudentTechnical University of MunichSchool of Computation, Information and Technology
Informatics 9
Boltzmannstrasse 3
85748 Garching
Germany
Office: 03.09.039
Mail: Simon.K.Schaefer@tum.de
Brief Bio
I received my Master's and Bachelor's degree from ETH Zurich and studied as well as worked at Stanford University, National University of Singapore, Amazon robotics and several others. For more information please see my personal website and google scholar.
Research Interests
- Human Robot Interaction
- Self-Supervised Learning
- Uncertainty in Machine Learning
- Event Cameras
Always happy to discuss new research ideas. If you want to conduct research in any of these areas, feel free to contact me!
Student Projects
I am open to supervising ambitious and talented Master and Bachelor students for their thesis. If you want to work with me, please send me an email describing the area / project you would like to work on. Please also attach your CV and up-to-date transcript.
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Book Chapters | Journal Articles | Preprints | Conference and Workshop Papers | PhD Thesis | Other Publications
Book Chapters
2016
[] Flying robots , Chapter in Springer Handbook of Robotics, Springer, Cham, 2016.
Book Chapters | Journal Articles | Preprints | Conference and Workshop Papers | PhD Thesis | Other Publications
Journal Articles
2023
[] Anthropomorphic Grasping with Neural Object Shape Completion , In IEEE Robotics and Automation Letters, IEEE, volume , 2023.
[] Orientation-Aware Hierarchical, Adaptive-Resolution A* Algorithm for UAV Trajectory Planning , In IEEE Robotics and Automation Letters, IEEE, volume 8, 2023.
[] Incremental Dense Reconstruction From Monocular Video With Guided Sparse Feature Volume Fusion , In IEEE Robotics and Automation Letters, IEEE, volume 8, 2023.
2022
[] Aerial additive manufacturing with multiple autonomous robots , In Nature, Nature Publishing Group UK, volume 7928, 2022.
2021
[] Multi-Resolution 3D Mapping With Explicit Free Space Representation for Fast and Accurate Mobile Robot Motion Planning , In IEEE Robotics and Automation Letters, volume 6, 2021.
[] Volumetric Occupancy Mapping With Probabilistic Depth Completion for Robotic Navigation , In IEEE Robotics and Automation Letters, volume 6, 2021.
[] Deep Probabilistic Feature-metric Tracking , In IEEE Robotics and Automation Letters, IEEE, volume 6, 2021.
2019
[] Special Issue on Machine Vision , In International Journal of Computer Vision, Springer US, volume 127, 2019.
[] Bioinspired design of a landing system with soft shock absorbers for autonomous aerial robots , In Journal of Field Robotics, volume 36, 2019.
[] Fully autonomous micro air vehicle flight and landing on a moving target using visual–inertial estimation and model-predictive control , In Journal of Field Robotics, volume 36, 2019.
2018
[] Efficient octree-based volumetric SLAM supporting signed-distance and occupancy mapping , In IEEE Robotics and Automation Letters, IEEE, volume 3, 2018.
2017
[] Design of small hand-launched solar-powered UAVs: From concept study to a multi-day world endurance record flight , In Journal of Field Robotics, volume 34, 2017.
2016
[] ElasticFusion: Real-time dense SLAM and light source estimation , In The International Journal of Robotics Research, SAGE Publications Sage UK: London, England, volume 35, 2016.
2015
[] Keyframe-based visual–inertial odometry using nonlinear optimization , In The International Journal of Robotics Research, SAGE Publications, volume 34, 2015.
2013
[] State estimation for legged robots-consistent fusion of leg kinematics and IMU , In Robotics, MIT Press, volume 17, 2013.
2012
[] Image Keypoint Detection, Description, and Matching , In ETH Zurich, Jul, volume 5, 2012.
2011
[] Solar airplane conceptual design and performance estimation , In Journal of Intelligent & Robotic Systems, Springer Netherlands, volume 61, 2011.
2009
[] Designing solar airplanes for continuous flight , In SPIE Newsroom, 2009.
2007
[] Mechanical design and realization of a steering mechanism for a coaxial helicopter , In Semester Thesis, 2007.
[] Development of a Flapping Wing Mechanism , In .
Book Chapters | Journal Articles | Preprints | Conference and Workshop Papers | PhD Thesis | Other Publications
Preprints
2022
[] OKVIS2: Realtime Scalable Visual-Inertial SLAM with Loop Closure , In arXiv preprint arXiv:2202.09199, 2022.
2019
[] Event-based vision: A survey , In arXiv preprint arXiv:1904.08405, 2019.
2016
[] A primer on the differential calculus of 3d orientations , In arXiv preprint arXiv:1606.05285, 2016.
Book Chapters | Journal Articles | Preprints | Conference and Workshop Papers | PhD Thesis | Other Publications
Conference and Workshop Papers
2024
[] FuncGrasp: Learning Object-Centric Neural Grasp Functions from Single Annotated Example Object , In IEEE International Conference on Robotics and Automation (ICRA), 2024.
[] Control-Barrier-Aided Teleoperation with Visual-Inertial SLAM for Safe MAV Navigation in Complex Environments , In IEEE International Conference on Robotics and Automation (ICRA), 2024.
[] Tightly-Coupled LiDAR-Visual-Inertial SLAM and Large-Scale Volumetric Occupancy Mapping , In IEEE International Conference on Robotics and Automation (ICRA), 2024.
2023
[] SimpleMapping: Real-Time Visual-Inertial Dense Mapping with Deep Multi-View Stereo , In IEEE International Symposium on Mixed and Augmented Reality (ISMAR), 2023.
[] Event-based Non-Rigid Reconstruction from Contours , In British Machine Vision Conference (BMVC), 2023.
[] SimpleMapping: Real-Time Visual-Inertial Dense Mapping with Deep Multi-View Stereo , In IEEE International Symposium on Mixed and Augmented Reality (ISMAR), 2023. ([video][project page])
[] BodySLAM++: Fast and Tightly-Coupled Visual-Inertial Camera and Human Motion Tracking , In IEEE International Conference on Intelligent Robots and Systems (IROS), 2023. ([video])
[] GloPro: Globally-Consistent Uncertainty-Aware 3D Human Pose Estimation & Tracking in the Wild , In IEEE International Conference on Intelligent Robots and Systems (IROS), 2023. ([video][project page])
[] Accurate and Interactive Visual-Inertial Sensor Calibration with Next-Best-View and Next-Best-Trajectory Suggestion , In IEEE International Conference on Intelligent Robots and Systems (IROS), 2023. ([video])
2022
[] Learning to Complete Object Shapes for Object-level Mapping in Dynamic Scenes , In International Conference on Intelligent Robots and Systems (IROS), 2022. ([video][project page])
[] Visual-Inertial Multi-Instance Dynamic SLAM with Object-Level Relocalisation , In International Conference on Intelligent Robots and Systems (IROS), 2022. ([video][project page])
[] Visual-Inertial SLAM with Tightly-Coupled Dropout-Tolerant GPS Fusion , In International Conference on Intelligent Robots and Systems (IROS), 2022. ([project page])
[] BodySLAM: Joint Camera Localisation, Mapping, and Human Motion Tracking , In European Conference on Computer Vision (ECCV), 2022. ([video][project page])
[] Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimation , In IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2022.
2021
[] Elastic and efficient lidar reconstruction for large-scale exploration tasks , In IEEE International Conference on Robotics and Automation (ICRA), 2021.
2020
[] Aerial Manipulation Using Hybrid Force and Position NMPC Applied to Aerial Writing , In , 2020.
[] Bundle adjustment on a graph processor , In Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2020.
[] Towards the Probabilistic Fusion of Learned Priors into Standard Pipelines for 3D Reconstruction , In IEEE International Conference on Robotics and Automation (ICRA), 2020.
[] Comparing view-based and map-based semantic labelling in real-time SLAM , In IEEE International Conference on Robotics and Automation (ICRA), 2020.
[] Towards bounding-box free panoptic segmentation , In German Conference on Pattern Recognition (GCPR), 2020.
[] Nonlinear mpc with motor failure identification and recovery for safe and aggressive multicopter flight , In IEEE International Conference on Robotics and Automation (ICRA), 2020.
[] Fast frontier-based information-driven autonomous exploration with an MAV , In 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020.
2019
[] Adaptive-resolution octree-based volumetric SLAM , In 2019 International Conference on 3D Vision (3DV), 2019.
[] Learning meshes for dense visual SLAM , In Proceedings of the IEEE/CVF International Conference on Computer Vision, 2019.
[] Characterizing visual localization and mapping datasets , In 2019 International Conference on Robotics and Automation (ICRA), 2019.
[] DeepFusion: real-time dense 3D reconstruction for monocular SLAM using single-view depth and gradient predictions , In 2019 International Conference on Robotics and Automation (ICRA), 2019.
[] KO-Fusion: dense visual SLAM with tightly-coupled kinematic and odometric tracking , In 2019 International Conference on Robotics and Automation (ICRA), 2019.
[] Scenecode: Monocular dense semantic reconstruction using learned encoded scene representations , In Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2019.
[] X-section: Cross-section prediction for enhanced RGB-D fusion , In Proceedings of the IEEE/CVF International Conference on Computer Vision, 2019.
[] Mid-fusion: Octree-based object-level multi-instance dynamic slam , In 2019 International Conference on Robotics and Automation (ICRA), 2019.
2018
[] Ls-net: Learning to solve nonlinear least squares for monocular stereo , In , 2018.
[] Learning to solve nonlinear least squares for monocular stereo , In Proceedings of the European Conference on Computer Vision (ECCV), 2018.
[] Fusion++: Volumetric object-level slam , In 2018 international conference on 3D vision (3DV), 2018.
[] InteriorNet: Mega-scale multi-sensor photo-realistic indoor scenes dataset , In , 2018.
[] Towards an Embodied Semantic Fovea: Semantic 3D scene reconstruction from ego-centric eye-tracker videos , In , 2018.
[] CodeSLAM—learning a compact, optimisable representation for dense visual SLAM , In Proceedings of the IEEE conference on computer vision and pattern recognition, 2018.
2017
[] Meta-learning for instance-level data association , In Neural Information Processing Systems (NIPS), volume 1, 2017.
[] Scenenet rgb-d: Can 5m synthetic images beat generic imagenet pre-training on indoor segmentation? , In Proceedings of the IEEE International Conference on Computer Vision, 2017.
[] Dense rgb-d-inertial slam with map deformations , In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.
[] Semantic texture for robust dense tracking , In Proceedings of the IEEE International Conference on Computer Vision Workshops, 2017.
[] Monocular visual odometry: Sparse joint optimisation or dense alternation? , In 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017.
[] Room layout estimation from rapid omnidirectional exploration , In 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017.
[] Semanticfusion: Dense 3d semantic mapping with convolutional neural networks , In 2017 IEEE International Conference on Robotics and automation (ICRA), 2017.
2016
[] Monocular, real-time surface reconstruction using dynamic level of detail , In 2016 Fourth International Conference on 3D Vision (3DV), 2016.
[] Real-time 3D reconstruction and 6-DoF tracking with an event camera , In European Conference on Computer Vision, 2016.
[] Real-time height map fusion using differentiable rendering , In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.
[] Deep learning a grasp function for grasping under gripper pose uncertainty , In Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, 2016.
[] Simultaneous optical flow and intensity estimation from an event camera , In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2016.
[] Pairwise decomposition of image sequences for active multi-view recognition , In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2016.
2015
[] ElasticFusion: Dense SLAM Without A Pose Graph , In Robotics: Science and Systems, 2015.
[] Rapid free-space mapping from a single omnidirectional camera , In 2015 European Conference on Mobile Robots (ECMR), 2015.
[] Towards visual slam with event-based cameras , In The problem of mobile sensors workshop in conjunction with RSS, 2015.
[] A solar-powered hand-launchable UAV for low-altitude multi-day continuous flight , In 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015.
[] Place recognition with event-based cameras and a neural implementation of SeqSLAM , In Innovative Sensing for Robotics: Focus on Neuromorphic Sensors Workshop at IEEE International Conference on Robotics and Automation (ICRA), 2015.
2014
[] Robust state estimation for small unmanned airplanes , In 2014 IEEE Conference on Control Applications (CCA), 2014.
[] Explicit model predictive control and l 1-navigation strategies for fixed-wing uav path tracking , In 22nd Mediterranean Conference on Control and Automation, 2014.
[] A synchronized visual-inertial sensor system with FPGA pre-processing for accurate real-time SLAM , In 2014 IEEE international conference on robotics and automation (ICRA), 2014.
2013
[] Ground and aerial robots as an aid to alpine search and rescue: Initial sherpa outcomes , In 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2013.
[] Design and control of a spherical omnidirectional blimp , In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013.
[] A UAV system for inspection of industrial facilities , In 2013 IEEE Aerospace Conference, 2013.
2012
[] A low-cost and fail-safe inertial navigation system for airplanes , In 2012 IEEE International Conference on Robotics and Automation, 2012.
[] The SHERPA project: Smart collaboration between humans and ground-aerial robots for improving rescuing activities in alpine environments , In 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2012.
2011
[] Modeling and decoupling control of the coax micro helicopter , In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011.
[] BRISK: Binary robust invariant scalable keypoints , In 2011 International conference on computer vision, 2011.
2008
[] Design and Comparison of a Steering Mechanism for an Autonomous Coaxial Indoor Helicopter , In Proceedings of The ASME International Symposium on Flexible Automation (ISFA), 2008.
[] New design of the steering mechanism for a mini coaxial helicopter , In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008.
2007
[] , In Proceedings 2007 IEEE international conference on robotics and automation, 2007.
Book Chapters | Journal Articles | Preprints | Conference and Workshop Papers | PhD Thesis | Other Publications
PhD Thesis
2014
[] Unmanned solar airplanes: Design and algorithms for efficient and robust autonomous operation , PhD thesis, ETH Zurich, 2014.
Book Chapters | Journal Articles | Preprints | Conference and Workshop Papers | PhD Thesis | Other Publications
Other Publications
2020
[] OKVIS 2.0 for the FPV Drone Racing VIO Competition 2020 , 2020.
2010
[] Modeling and control of a ballbot , Master's thesis, Eidgenössische Technische Hochschule Zürich, 2010.
2009
[] Aerodynamic Performance and Stability Simulation of DifferentFlying Wing Model Airplane Configurations , Bachelor Thesis, Swiss Federal Institute of Technology in Zurich, 2009.
