Stephan Weiss

Publication Activity (10 Years)

Years Active: 2008-2024
Publications (10 Years): 64

Top Topics

State Estimation

Inertial Navigation

Fusion Framework

Top Venues

IEEE Robotics Autom. Lett.

Publications

Alessandro Fornasier, Pieter van Goor, Eren Allak, Robert E. Mahony, Stephan Weiss
MSCEqF: A Multi State Constraint Equivariant Filter for Vision-Aided Inertial Navigation. IEEE Robotics Autom. Lett. 9 (1) (2024)
Christian Brommer, Alessandro Fornasier, Martin Scheiber, Jeff Delaune, Roland Brockers, Jan Steinbrener, Stephan Weiss
The INSANE dataset: Large number of sensors for challenging UAV flights in Mars analog, outdoor, and out-/indoor transition scenarios. Int. J. Robotics Res. 43 (8) (2024)
Alessandro Fornasier, Yixiao Ge, Pieter van Goor, Martin Scheiber, Andrew Tridgell, Robert E. Mahony, Stephan Weiss
An Equivariant Approach to Robust State Estimation for the ArduPilot Autopilot System. ICRA (2024)
Jan Michalczyk, Roland Jung, Christian Brommer, Stephan Weiss
Multi-State Tightly-Coupled EKF-Based Radar-Inertial Odometry With Persistent Landmarks. ICRA (2023)
Giulio Delama, Farhad Shamsfakhr, Stephan Weiss, Daniele Fontanelli, Alessandro Fornasier
UVIO: An UWB-Aided Visual-Inertial Odometry Framework with Bias-Compensated Anchors Initialization. CoRR (2023)
Jan Michalczyk, Martin Scheiber, Roland Jung, Stephan Weiss
Radar-Inertial Odometry for Closed-Loop Control of Resource-Constrained Aerial Platforms. SSRR (2023)
Alessandro Fornasier, Yixiao Ge, Pieter van Goor, Robert E. Mahony, Stephan Weiss
Equivariant Symmetries for Inertial Navigation Systems. CoRR (2023)
Giulio Delama, Farhad Shamsfakhr, Stephan Weiss, Daniele Fontanelli, Alessandro Fomasier
UVIO: An UWB-Aided Visual-Inertial Odometry Framework with Bias-Compensated Anchors Initialization. IROS (2023)
Thomas Jantos, Christian Brommer, Eren Allak, Stephan Weiss, Jan Steinbrener
AI-Based Multi-Object Relative State Estimation with Self-Calibration Capabilities. ICRA (2023)
Rooholla Khorrambakht, Hamed Damirchi, M. R. Dindarloo, A. Saki, S. A. Khalilpour, Hamid D. Taghirad, Stephan Weiss
Graph-Based Visual-Kinematic Fusion and Monte Carlo Initialization for Fast-Deployable Cable-Driven Robots. IROS (2023)
Martin Scheiber, Alessandro Fornasier, Christian Brommer, Stephan Weiss
Revisiting multi-GNSS Navigation for UAVs - An Equivariant Filtering Approach. CoRR (2023)
Rupam Singh, Jan Steinbrener, Stephan Weiss
Deterministic Framework based Structured Learning for Quadrotors. MMAR (2023)
Thomas Jantos, Christian Brommer, Eren Allak, Stephan Weiss, Jan Steinbrener
AI-Based Multi-Object Relative State Estimation with Self-Calibration Capabilities. CoRR (2023)
Martin Scheiber, Alessandro Fornasier, Christian Brommer, Stephan Weiss
Revisiting Multi-GNSS Navigation for UAVs - An Equivariant Filtering Approach. ICAR (2023)
Alessandro Fornasier, Pieter van Goor, Eren Allak, Robert E. Mahony, Stephan Weiss
MSCEqF: A Multi State Constraint Equivariant Filter for Vision-aided Inertial Navigation. CoRR (2023)
Christian Brommer, Alessandro Fornasier, Martin Scheiber, Jeff Delaune, Roland Brockers, Jan Steinbrener, Stephan Weiss
INSANE: Cross-Domain UAV Data Sets with Increased Number of Sensors for developing Advanced and Novel Estimators. CoRR (2022)
Alessandro Fornasier, Yonhon Ng, Christian Brommer, Christoph Böhm, Robert E. Mahony, Stephan Weiss
Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation with Online Calibration. CoRR (2022)
Christoph Böhm, Pascal Brault, Quentin Delamare, Paolo Robuffo Giordano, Stephan Weiss
COP: Control & Observability-aware Planning. ICRA (2022)
Eren Allak, Axel Barrau, Roland Jung, Jan Steinbrener, Stephan Weiss
Centralized-Equivalent Pairwise Estimation with Asynchronous Communication Constraints for two Robots. IROS (2022)
Thomas Jantos, Mohamed Amin Hamdad, Wolfgang Granig, Stephan Weiss, Jan Steinbrener
PoET: Pose Estimation Transformer for Single-View, Multi-Object 6D Pose Estimation. CoRL (2022)
Jan Steinbrener, Christian Brommer, Thomas Jantos, Alessandro Fornasier, Stephan Weiss
Improved State Propagation through AI-based Pre-processing and Down-sampling of High-Speed Inertial Data. ICRA (2022)
Alessandro Fornasier, Yonhon Ng, Christian Brommer, Christoph Böhm, Robert E. Mahony, Stephan Weiss
Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation With Online Calibration. IEEE Robotics Autom. Lett. 7 (4) (2022)
Alessandro Fornasier, Yonhon Ng, Robert E. Mahony, Stephan Weiss
Equivariant Filter Design for Inertial Navigation Systems with Input Measurement Biases. CoRR (2022)
Rohit Dhakate, Christian Brommer, Christoph Böhm, Harald Gietler, Stephan Weiss, Jan Steinbrener
Autonomous Control of Redundant Hydraulic Manipulator Using Reinforcement Learning with Action Feedback. IROS (2022)
Roland Jung, Stephan Weiss
Scalable and Modular Ultra-Wideband Aided Inertial Navigation. IROS (2022)
Martin Scheiber, Alessandro Fornasier, Roland Jung, Christoph Böhm, Rohit Dhakate, Christian Stewart, Jan Steinbrener, Stephan Weiss, Christian Brommer
CNS Flight Stack for Reproducible, Customizable, and Fully Autonomous Applications. IEEE Robotics Autom. Lett. 7 (4) (2022)
Eren Allak, Rooholla Khorrambakht, Christian Brommer, Stephan Weiss
Kinematics-Inertial Fusion for Localization of a 4-Cable Underactuated Suspended Robot Considering Cable Sag. IROS (2022)
Thomas Jantos, Mohamed Amin Hamdad, Wolfgang Granig, Stephan Weiss, Jan Steinbrener
PoET: Pose Estimation Transformer for Single-View, Multi-Object 6D Pose Estimation. CoRR (2022)
Christoph Böhm, Pascal Brault, Quentin Delamare, Paolo Robuffo Giordano, Stephan Weiss
COP: Control & Observability-aware Planning. CoRR (2022)
Jan Michalczyk, Roland Jung, Stephan Weiss
Tightly-Coupled EKF-Based Radar-Inertial Odometry. IROS (2022)
Harald Gietler, Christoph Böhm, Stefan Ainetter, Christian Schöffmann, Friedrich Fraundorfer, Stephan Weiss, Hubert Zangl
Forestry Crane Automation using Learning-based Visual Grasping Point Prediction. SAS (2022)
Alessandro Fornasier, Yonhon Ng, Robert E. Mahony, Stephan Weiss
Equivariant Filter Design for Inertial Navigation Systems with Input Measurement Biases. ICRA (2022)
Javier Gibran Apud Baca, Thomas Jantos, Mario Theuermann, Mohamed Amin Hamdad, Jan Steinbrener, Stephan Weiss, Alexander Almer, Roland Perko
Automated Data Annotation for 6-DoF AI-Based Navigation Algorithm Development. J. Imaging 7 (11) (2021)
Roland Jung, Stephan Weiss
Scalable Recursive Distributed Collaborative State Estimation for Aided Inertial Navigation. ICRA (2021)
Christoph Böhm, Christian Brommer, Alexander Hardt-Stremayr, Stephan Weiss
Combined System Identification and State Estimation for a Quadrotor UAV. ICRA (2021)
Christoph Böhm, Martin Scheiber, Stephan Weiss
Filter-Based Online System-Parameter Estimation for Multicopter UAVs. Robotics: Science and Systems (2021)
Julian Blueml, Alessandro Fornasier, Stephan Weiss
Bias Compensated UWB Anchor Initialization using Information-Theoretic Supported Triangulation Points. ICRA (2021)
Stefan Ainetter, Christoph Böhm, Rohit Dhakate, Stephan Weiss, Friedrich Fraundorfer
Depth-aware Object Segmentation and Grasp Detection for Robotic Picking Tasks. CoRR (2021)
Roland Jung, Stephan Weiss
Modular Multi-Sensor Fusion: A Collaborative State Estimation Perspective. IEEE Robotics Autom. Lett. 6 (4) (2021)
Stefan Ainetter, Christoph Böhm, Rohit Dhakate, Stephan Weiss, Friedrich Fraundorfer
Depth-aware Object Segmentation and Grasp Detection for Robotic Picking Tasks. BMVC (2021)
Paul Ladinig, Bernhard Rinner, Stephan Weiss
Time and Energy Optimized Trajectory Generation for Multi-Agent Constellation Changes. ICRA (2021)
Bernhard Rinner, Christian Bettstetter, Hermann Hellwagner, Stephan Weiss
Multidrone Systems: More Than the Sum of the Parts. Computer 54 (5) (2021)
Alessandro Fornasier, Martin Scheiber, Alexander Hardt-Stremayr, Roland Jung, Stephan Weiss
VINSEval: Evaluation Framework for Unified Testing of Consistency and Robustness of Visual-Inertial Navigation System Algorithms. ICRA (2021)
Christian Brommer, Roland Jung, Jan Steinbrener, Stephan Weiss
MaRS: A Modular and Robust Sensor-Fusion Framework. IEEE Robotics Autom. Lett. 6 (1) (2021)
Bryan Starbuck, Alessandro Fornasier, Stephan Weiss, Cédric Pradalier
Consistent State Estimation on Manifolds for Autonomous Metal Structure Inspection. ICRA (2021)
Martin Scheiber, Jeff Delaune, Stephan Weiss, Roland Brockers
Mid-Air Range-Visual-Inertial Estimator Initialization for Micro Air Vehicles. ICRA (2021)
Eren Allak, Alessandro Fornasier, Stephan Weiss
Consistent Covariance Pre-Integration for Invariant Filters with Delayed Measurements. IROS (2020)
Roland Jung, Christian Brommer, Stephan Weiss
Decentralized Collaborative State Estimation for Aided Inertial Navigation. ICRA (2020)
Alexander Hardt-Stremayr, Stephan Weiss
Monocular Visual-Inertial Odometry in Low-Textured Environments with Smooth Gradients: A Fully Dense Direct Filtering Approach. ICRA (2020)
Martin Scheiber, Jeff Delaune, Roland Brockers, Stephan Weiss
Visual-Inertial On-Board Throw-and-Go Initialization for Micro Air Vehicles. IROS (2019)
Eren Allak, Roland Jung, Stephan Weiss
Covariance Pre-Integration for Delayed Measurements in Multi-Sensor Fusion. IROS (2019)
Alexander Hardt-Stremayr, Stephan Weiss
Towards Fully Dense Direct Filter-Based Monocular Visual-Inertial Odometry. ICRA (2019)
Hannes Sommer, Igor Gilitschenski, Michael Bloesch, Stephan Weiss, Roland Siegwart, Juan I. Nieto
Why and How to Avoid the Flipped Quaternion Multiplication. CoRR (2018)
Eren Allak, Alexander Hardt-Stremayr, Stephan Weiss
Key-Frame Strategy During Fast Image-Scale Changes and Zero Motion in VIO Without Persistent Features. IROS (2018)
James A. Preiss, Karol Hausman, Gaurav S. Sukhatme, Stephan Weiss
Simultaneous self-calibration and navigation using trajectory optimization. Int. J. Robotics Res. 37 (13-14) (2018)
Harald Gietler, Christoph Böhm, Tobias Mitterer, Lisa-Marie Faller, Stephan Weiss, Hubert Zangl
4-DOF Magnetic Field Based Localization for UAV Navigation. ISER (2018)
Alexander Hardt-Stremayr, Matthias Schörghuber, Stephan Weiss, Martin Humenberger
Metrics for Real-Time Mono-VSLAM Evaluation Including IMU Induced Drift with Application to UAV Flight. ECCV Workshops (2) (2018)
James A. Preiss, Karol Hausman, Gaurav S. Sukhatme, Stephan Weiss
Trajectory Optimization for Self-Calibration and Navigation. Robotics: Science and Systems (2017)
Karol Hausman, James A. Preiss, Gaurav S. Sukhatme, Stephan Weiss
Observability-Aware Trajectory Optimization for Self-Calibration With Application to UAVs. IEEE Robotics Autom. Lett. 2 (3) (2017)
Karol Hausman, James A. Preiss, Gaurav S. Sukhatme, Stephan Weiss
Observability-Aware Trajectory Optimization for Self-Calibration with Application to UAVs. CoRR (2016)
Karol Hausman, Stephan Weiss, Roland Brockers, Larry H. Matthies, Gaurav S. Sukhatme
Self-calibrating multi-sensor fusion with probabilistic measurement validation for seamless sensor switching on a UAV. ICRA (2016)
Daniel Meier, Roland Brockers, Larry H. Matthies, Roland Siegwart, Stephan Weiss
Detection and characterization of moving objects with aerial vehicles using inertial-optical flow. IROS (2015)
Stephan Weiss, Roland Brockers, Sigurd Albrektsen, Larry H. Matthies
Inertial Optical Flow for Throw-and-Go Micro Air Vehicles. WACV (2015)
Vishnu R. Desaraju, Nathan Michael, Martin Humenberger, Roland Brockers, Stephan Weiss, Jeremy Nash, Larry H. Matthies
Vision-based landing site evaluation and informed optimal trajectory generation toward autonomous rooftop landing. Auton. Robots 39 (3) (2015)
Roland Brockers, Martin Humenberger, Stephan Weiss, Larry H. Matthies
Towards Autonomous Navigation of Miniature UAV. CVPR Workshops (2014)
Larry H. Matthies, Roland Brockers, Yoshiaki Kuwata, Stephan Weiss
Stereo vision-based obstacle avoidance for micro air vehicles using disparity space. ICRA (2014)
Davide Scaramuzza, Michael Achtelik, Lefteris Doitsidis, Friedrich Fraundorfer, Elias B. Kosmatopoulos, Agostino Martinelli, Markus W. Achtelik, Margarita Chli, Savvas A. Chatzichristofis, Laurent Kneip, Daniel Gurdan, Lionel Heng, Gim Hee Lee, Simon Lynen, Marc Pollefeys, Alessandro Renzaglia, Roland Siegwart, Jan Carsten Stumpf, Petri Tanskanen, Chiara Troiani, Stephan Weiss, Lorenz Meier
Vision-Controlled Micro Flying Robots: From System Design to Autonomous Navigation and Mapping in GPS-Denied Environments. IEEE Robotics Autom. Mag. 21 (3) (2014)
Vishnu R. Desaraju, Nathan Michael, Martin Humenberger, Roland Brockers, Stephan Weiss, Larry H. Matthies
Vision-based Landing Site Evaluation and Trajectory Generation Toward Rooftop Landing. Robotics: Science and Systems (2014)
Markus W. Achtelik, Simon Lynen, Stephan Weiss, Margarita Chli, Roland Siegwart
Motion- and Uncertainty-aware Path Planning for Micro Aerial Vehicles. J. Field Robotics 31 (4) (2014)
Stephan Weiss, Markus Achtelik, Simon Lynen, Michael Achtelik, Laurent Kneip, Margarita Chli, Roland Siegwart
Monocular Vision for Long-term Micro Aerial Vehicle State Estimation: A Compendium. J. Field Robotics 30 (5) (2013)
Simon Lynen, Markus W. Achtelik, Stephan Weiss, Margarita Chli, Roland Siegwart
A robust and modular multi-sensor fusion approach applied to MAV navigation. IROS (2013)
Markus Achtelik, Stephan Weiss, Margarita Chli, Roland Siegwart
Path planning for motion dependent state estimation on micro aerial vehicles. ICRA (2013)
Stephan Weiss, Roland Brockers, Larry H. Matthies
4DoF drift free navigation using inertial cues and optical flow. IROS (2013)
Stephan Weiss, Markus Achtelik, Margarita Chli, Roland Siegwart
Versatile distributed pose estimation and sensor self-calibration for an autonomous MAV. ICRA (2012)
Markus Achtelik, Simon Lynen, Stephan Weiss, Laurent Kneip, Margarita Chli, Roland Siegwart
Visual-inertial SLAM for a small helicopter in large outdoor environments. IROS (2012)
Stephan Weiss, Markus Achtelik, Simon Lynen, Margarita Chli, Roland Siegwart
Real-time onboard visual-inertial state estimation and self-calibration of MAVs in unknown environments. ICRA (2012)
Markus Achtelik, Michael Achtelik, Yorick Brunet, Margarita Chli, Savvas A. Chatzichristofis, Jean-Dominique Decotignie, Klaus-Michael Doth, Friedrich Fraundorfer, Laurent Kneip, Daniel Gurdan, Lionel Heng, Elias B. Kosmatopoulos, Lefteris Doitsidis, Gim Hee Lee, Simon Lynen, Agostino Martinelli, Lorenz Meier, Marc Pollefeys, Damien Piguet, Alessandro Renzaglia, Davide Scaramuzza, Roland Siegwart, Jan Stumpf, Petri Tanskanen, Chiara Troiani, Stephan Weiss
SFly: Swarm of micro flying robots. IROS (2012)
Lefteris Doitsidis, Stephan Weiss, Alessandro Renzaglia, Markus Achtelik, Elias B. Kosmatopoulos, Roland Siegwart, Davide Scaramuzza
Optimal surveillance coverage for teams of micro aerial vehicles in GPS-denied environments using onboard vision. Auton. Robots 33 (1-2) (2012)
Laurent Kneip, Agostino Martinelli, Stephan Weiss, Davide Scaramuzza, Roland Siegwart
Closed-form solution for absolute scale velocity determination combining inertial measurements and a single feature correspondence. ICRA (2011)
Stephan Weiss, Markus Achtelik, Laurent Kneip, Davide Scaramuzza, Roland Siegwart
Intuitive 3D Maps for MAV Terrain Exploration and Obstacle Avoidance. J. Intell. Robotic Syst. 61 (1-4) (2011)
Gabriel Nützi, Stephan Weiss, Davide Scaramuzza, Roland Siegwart
Fusion of IMU and Vision for Absolute Scale Estimation in Monocular SLAM. J. Intell. Robotic Syst. 61 (1-4) (2011)
Rainer Voigt, Janosch Nikolic, Christoph Hürzeler, Stephan Weiss, Laurent Kneip, Roland Siegwart
Robust embedded egomotion estimation. IROS (2011)
Laurent Kneip, Stephan Weiss, Roland Siegwart
Deterministic initialization of metric state estimation filters for loosely-coupled monocular vision-inertial systems. IROS (2011)
Markus Achtelik, Michael Achtelik, Stephan Weiss, Roland Siegwart
Onboard IMU and monocular vision based control for MAVs in unknown in- and outdoor environments. ICRA (2011)
Stephan Weiss, Roland Siegwart
Real-time metric state estimation for modular vision-inertial systems. ICRA (2011)
Lefteris Doitsidis, Alessandro Renzaglia, Stephan Weiss, Elias B. Kosmatopoulos, Davide Scaramuzza, Roland Siegwart
3D surveillance coverage using maps extracted by a monocular SLAM algorithm. IROS (2011)
Stephan Weiss, Davide Scaramuzza, Roland Siegwart
Monocular-SLAM-based navigation for autonomous micro helicopters in GPS-denied environments. J. Field Robotics 28 (6) (2011)
Markus Achtelik, Stephan Weiss, Margarita Chli, Frank Dellaert, Roland Siegwart
Collaborative stereo. IROS (2011)
Daniel Eberli, Davide Scaramuzza, Stephan Weiss, Roland Siegwart
Vision Based Position Control for MAVs Using One Single Circular Landmark. J. Intell. Robotic Syst. 61 (1-4) (2011)
Michael Blösch, Stephan Weiss, Davide Scaramuzza, Roland Siegwart
Vision based MAV navigation in unknown and unstructured environments. ICRA (2010)
Simon Zingg, Davide Scaramuzza, Stephan Weiss, Roland Siegwart
MAV navigation through indoor corridors using optical flow. ICRA (2010)
Frédéric Bourgeois, Laurent Kneip, Stephan Weiss, Roland Siegwart
Delay and Dropout Tolerant State Estimation for MAVs. ISER (2010)
Olivier Steiger, Stephan Weiss, Judith Felder
Real-time understanding of 3D video on an embedded system. EUSIPCO (2009)
Olivier Steiger, Judith Felder, Stephan Weiss
Calibration of time-of-flight range imaging cameras. ICIP (2008)