César Cadena

Most-cited papers

From Coarse to Fine: Robust Hierarchical Localization at Large Scale
Paul-Edouard Sarlin, César Cadena, R. Siegwart, Marcin Dymczyk
2018Computer Vision and Pattern Recognition1,253 citations Open access
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The current state and future outlook of rescue robotics
J. Delmerico, S. Mintchev, A. Giusti, B. Gromov +9 more
2019J. Field Robotics371 citations Open access
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Volumetric Instance-Aware Semantic Mapping and 3D Object Discovery
Margarita Grinvald, Fadri Furrer, Tonci Novkovic, Jen Jen Chung +3 more
2019IEEE Robotics and Automation Letters277 citations Open access
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SegMap: Segment-based mapping and localization using data-driven descriptors
Renaud Dubé, Andrei Cramariuc, Daniel Dugas, H. Sommer +4 more
2019Int. J. Robotics Res.225 citations Open access
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Where Should I Walk? Predicting Terrain Properties From Images Via Self-Supervised Learning
Lorenz Wellhausen, A. Dosovitskiy, René Ranftl, K. Walas +2 more
2019IEEE Robotics and Automation Letters224 citations Open access
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Pixel-wise Anomaly Detection in Complex Driving Scenes
G. Di Biase, H. Blum, R. Siegwart, César Cadena
2021Computer Vision and Pattern Recognition211 citations Open access
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The Fishyscapes Benchmark: Measuring Blind Spots in Semantic Segmentation
H. Blum, Paul-Edouard Sarlin, Juan I. Nieto, R. Siegwart +1 more
2019International Journal of Computer Vision205 citations Open access
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Reinforced Imitation: Sample Efficient Deep Reinforcement Learning for Mapless Navigation by Leveraging Prior Demonstrations
Mark Pfeiffer, Samarth Shukla, M. Turchetta, César Cadena +3 more
2018IEEE Robotics and Automation Letters192 citations Open access
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X-View: Graph-Based Semantic Multiview Localization
A. Gawel, Carlo Del Don, R. Siegwart, Juan I. Nieto +1 more
2017IEEE Robotics and Automation Letters181 citations Open access
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SegMap: 3D Segment Mapping using Data-Driven Descriptors
Renaud Dubé, Andrei Cramariuc, Daniel Dugas, Juan I. Nieto +2 more
2018Robotics: Science and Systems Conference173 citations Open access
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An online multi-robot SLAM system for 3D LiDARs
Renaud Dubé, A. Gawel, H. Sommer, Juan I. Nieto +2 more
2017IEEE/RJS International Conference on Intelligent RObots and Systems136 citations
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Fishyscapes: A Benchmark for Safe Semantic Segmentation in Autonomous Driving
H. Blum, Paul-Edouard Sarlin, Juan I. Nieto, R. Siegwart +1 more
20192019 IEEE/CVF International Conference on Computer Vision Workshop (ICCVW)131 citations
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Fast Traversability Estimation for Wild Visual Navigation
Jonas Frey, Matías Mattamala, Nived Chebrolu, César Cadena +2 more
2023Robotics: Science and Systems Conference129 citations Open access
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Voxgraph: Globally Consistent, Volumetric Mapping Using Signed Distance Function Submaps
Victor Reijgwart, A. Millane, Helen Oleynikova, R. Siegwart +2 more
2020IEEE Robotics and Automation Letters125 citations Open access
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A Data-driven Model for Interaction-Aware Pedestrian Motion Prediction in Object Cluttered Environments
Mark Pfeiffer, Giuseppe Paolo, H. Sommer, Juan I. Nieto +2 more
2017IEEE International Conference on Robotics and Automation110 citations Open access
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Panoptic Multi-TSDFs: a Flexible Representation for Online Multi-resolution Volumetric Mapping and Long-term Dynamic Scene Consistency
Lukas Schmid, J. Delmerico, Johannes L. Schönberger, Juan I. Nieto +3 more
2021IEEE International Conference on Robotics and Automation104 citations Open access
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iPlanner: Imperative Path Planning
F. Yang, Chen Wang, César Cadena, Marco Hutter
2023Robotics: Science and Systems Conference100 citations Open access
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Leveraging Deep Visual Descriptors for Hierarchical Efficient Localization
Paul-Edouard Sarlin, Fr'ed'eric Debraine, Marcin Dymczyk, R. Siegwart +1 more
2018Conference on Robot Learning95 citations
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– A Modular and Multi-Modal Mapping Framework
Andrei Cramariuc, Lukas Bernreiter, Florian Tschopp, M. Fehr +4 more
2022IEEE Robotics and Automation Letters86 citations Open access
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Out-of-Distribution Detection for Automotive Perception
Julia Nitsch, M. Itkina, Ransalu Senanayake, Juan I. Nieto +4 more
2020International Conference on Intelligent Transportation Systems82 citations Open access
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TSDF-based change detection for consistent long-term dense reconstruction and dynamic object discovery
M. Fehr, Fadri Furrer, Ivan Dryanovski, J. Sturm +3 more
2017IEEE International Conference on Robotics and Automation82 citations Open access
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Depth Based Semantic Scene Completion With Position Importance Aware Loss
Jie Li, Yu Liu, Xia Yuan, Chun-Xia Zhao +3 more
2020IEEE Robotics and Automation Letters79 citations
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COIN-LIO: Complementary Intensity-Augmented LiDAR Inertial Odometry
Patrick Pfreundschuh, Helen Oleynikova, César Cadena, R. Siegwart +1 more
2023IEEE International Conference on Robotics and Automation71 citations Open access
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Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned
Marco Tranzatto, M. Dharmadhikari, Lukas Bernreiter, Marco Camurri +32 more
2022Field Robotics68 citations Open access
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OREOS: Oriented Recognition of 3D Point Clouds in Outdoor Scenarios
Lukas Schaupp, Mathias Bürki, Renaud Dubé, R. Siegwart +1 more
2019IEEE/RJS International Conference on Intelligent RObots and Systems66 citations Open access
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Incremental-Segment-Based Localization in 3-D Point Clouds
Renaud Dubé, Mattia G. Gollub, H. Sommer, Igor Gilitschenski +3 more
2018IEEE Robotics and Automation Letters62 citations
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C-blox: A Scalable and Consistent TSDF-based Dense Mapping Approach
A. Millane, Zachary Taylor, Helen Oleynikova, Juan I. Nieto +2 more
2017IEEE/RJS International Conference on Intelligent RObots and Systems62 citations Open access
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Observability-Aware Self-Calibration of Visual and Inertial Sensors for Ego-Motion Estimation
T. Schneider, Mingyang Li, César Cadena, Juan I. Nieto +1 more
2019IEEE Sensors Journal53 citations Open access
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3D VSG: Long-term Semantic Scene Change Prediction through 3D Variable Scene Graphs
Sam Looper, Javier Rodriguez-Puigvert, R. Siegwart, César Cadena +1 more
2022IEEE International Conference on Robotics and Automation48 citations Open access
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3D multi-robot patrolling with a two-level coordination strategy
L. Freda, M. Gianni, F. Pirri, A. Gawel +3 more
2019Autonomous Robots44 citations Open access
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Experimental Comparison of Visual-Aided Odometry Methods for Rail Vehicles
Florian Tschopp, T. Schneider, Andrew W. Palmer, N. Nourani-Vatani +3 more
2019IEEE Robotics and Automation Letters44 citations Open access
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Free LSD: Prior-Free Visual Landing Site Detection for Autonomous Planes
Timo Hinzmann, Thomas J. Stastny, César Cadena, R. Siegwart +1 more
2018IEEE Robotics and Automation Letters40 citations Open access
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Empty Cities: A Dynamic-Object-Invariant Space for Visual SLAM
Berta Bescós, César Cadena, José Neira
2020IEEE Transactions on robotics39 citations Open access
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A Unified Approach for Autonomous Volumetric Exploration of Large Scale Environments Under Severe Odometry Drift
Lukas Schmid, Victor Reijgwart, Lionel Ott, Juan I. Nieto +2 more
2020IEEE Robotics and Automation Letters39 citations Open access
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VersaVIS—An Open Versatile Multi-Camera Visual-Inertial Sensor Suite
Florian Tschopp, M. Riner, M. Fehr, Lukas Bernreiter +6 more
2019Italian National Conference on Sensors39 citations Open access
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PHASER: A Robust and Correspondence-Free Global Pointcloud Registration
Lukas Bernreiter, Lionel Ott, Juan I. Nieto, R. Siegwart +1 more
2021IEEE Robotics and Automation Letters38 citations Open access
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Map Management for Efficient Long-Term Visual Localization in Outdoor Environments
Mathias Bürki, Marcin Dymczyk, Igor Gilitschenski, César Cadena +2 more
20182018 IEEE Intelligent Vehicles Symposium (IV)34 citations Open access
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Quantifying Aleatoric and Epistemic Uncertainty Using Density Estimation in Latent Space
Janis Postels, H. Blum, César Cadena, R. Siegwart +2 more
2020arXiv.org31 citations
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Efficient volumetric mapping of multi-scale environments using wavelet-based compression
Victor Reijgwart, César Cadena, R. Siegwart, Lionel Ott
2023Robotics: Science and Systems Conference29 citations Open access
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Embodied Active Domain Adaptation for Semantic Segmentation via Informative Path Planning
René Zurbrügg, H. Blum, César Cadena, R. Siegwart +1 more
2022IEEE Robotics and Automation Letters28 citations Open access
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Precise Robot Localization in Architectural 3D Plans
H. Blum, J. Stiefel, César Cadena, R. Siegwart +1 more
2020Proceedings of the 38th International Symposium on Automation and Robotics in Construction (ISARC)28 citations Open access
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Empty Cities: Image Inpainting for a Dynamic-Object-Invariant Space
Berta Bescós, José Neira, R. Siegwart, César Cadena
2018IEEE International Conference on Robotics and Automation28 citations Open access
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Automatic Segmentation of Tree Structure From Point Cloud Data
Sundara Tejaswi Digumarti, Juan I. Nieto, César Cadena, R. Siegwart +1 more
2018IEEE Robotics and Automation Letters26 citations
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VIZARD: Reliable Visual Localization for Autonomous Vehicles in Urban Outdoor Environments
Mathias Bürki, Lukas Schaupp, Marcin Dymczyk, Renaud Dubé +3 more
20192019 IEEE Intelligent Vehicles Symposium (IV)25 citations
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This is not what I imagined: Error Detection for Semantic Segmentation through Visual Dissimilarity
David Haldimann, H. Blum, R. Siegwart, César Cadena
2019arXiv.org25 citations
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3D Gated Recurrent Fusion for Semantic Scene Completion
Yu Liu, Jie Li, Qing-Sen Yan, Xia Yuan +3 more
2020arXiv.org23 citations
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Learning Densities in Feature Space for Reliable Segmentation of Indoor Scenes
Nicolas Marchal, Charlotte Moraldo, H. Blum, R. Siegwart +2 more
2019IEEE Robotics and Automation Letters23 citations Open access
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Unsupervised Continual Semantic Adaptation Through Neural Rendering
Zhizheng Liu, Francesco Milano, Jonas Frey, M. Hutter +3 more
2022Computer Vision and Pattern Recognition22 citations
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Spherical Multi-Modal Place Recognition for Heterogeneous Sensor Systems
Lukas Bernreiter, Lionel Ott, Juan I. Nieto, R. Siegwart +1 more
2021IEEE International Conference on Robotics and Automation22 citations Open access
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Seeing Through the Grass: Semantic Pointcloud Filter for Support Surface Learning
Anqiao Li, Chen-Yu Yang, Jonas Frey, Joonho Lee +2 more
2023IEEE Robotics and Automation Letters21 citations
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