Publications

An efficient global energy optimization approach for robust 3D plane segmentation of point clouds
Zhen Dong, Bisheng Yanga, Pingbo Hua and Sebastian Scherer
Journal Article, ISPRS Journal of Photogrammetry and Remote Sensing, Vol. 137, pp. 112-133, March, 2018

Near-Optimal Edge Evaluation in Explicit Generalized Binomial Graphs
Sanjiban Choudhury, Shervin Javdani, Siddhartha Srinivasa and Sebastian Scherer
Conference Paper, 31st Conference on Neural Information Processing Systems, December, 2017

Learning Heuristic Search via Imitation
Mohak Bhardwaj, Sanjiban Choudhury and Sebastian Scherer
Proceedings of the 1st Annual Conference on Robot Learning, Vol. 78, pp. 271-280, October, 2017

DROAN – Disparity-space Representation for Obstacle AvoidaNce
Geetesh Dubey, Sankalp Arora and Sebastian Scherer
Conference Paper, Proceedings of 2017 IEEE International Conference on Intelligent Robots and Systems (IROS 2017), September, 2017

Looking Forward: A Semantic Mapping System for Scouting with Micro-Aerial Vehicles
Daniel Maturana, Sankalp Arora and Sebastian Scherer
International Conference on Intelligent Robots and Systems (IROS), September, 2017

Real-time Semantic Mapping for Autonomous Off-Road Navigation
Daniel Maturana, Po-Wei Chou, Masashi Uenoyama and Sebastian Scherer
Conference Paper, Field and Service Robotics (FSR), September, 2017

Season-Invariant Semantic Segmentation with A Deep Multimodal Network
Dong-Ki Kim, Daniel Maturana, Masashi Uenoyama and Sebastian Scherer
Conference Paper, Field and Service Robotics, September, 2017

DROAN – Disparity-space Representation for Obstacle AvoidaNce
Geetesh Dubey, Sankalp Arora and Sebastian Scherer
Conference Paper, September, 2017

Robust Crack Detection in Concrete Structures Images using Multi-Scale Enhancement and Visual Features
Xiangzeng Liu, Yunfeng Ai and Sebastian Scherer
Conference Paper, 2017 IEEE International Conference on Image Processing (ICIP 2017), September, 2017

Wire Detection using Synthetic Data and Dilated Convolutional Networks for Unmanned Aerial Vehicles
Ratnesh Madaan, Daniel Maturana and Sebastian Scherer
Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2017

Adaptive Information Gathering via Imitation Learning
Sanjiban Choudhury, Ashish Kapoor, Gireeja Ranade, Sebastian Scherer and Debadeepta Dey
Conference Paper, Proceedings of Robotics: Science and Systems (RSS 2017), July, 2017

Randomized Algorithm for Informative Path Planning with Budget Constraints
Sankalp Arora and Sebastian Scherer
Conference Paper, International Conference on Robotics and Automation (ICRA), June, 2017, May, 2017

Robust Localization and Localizability Estimation with a Rotating Laser Scanner
Weikun Zhen, Sam Zeng and Sebastian Scherer
Conference Paper, IEEE International Conference on Robotics and Automation 2017, May, 2017

Smooth Trajectory Optimization in Wind: First Results on a Full-Scale Helicopter
Vishal Dugar, Sanjiban Choudhury and Sebastian Scherer
Conference Paper, AHS Forum, Vol 73, 2017, March, 2017

A KITE in the Wind: Smooth Trajectory Optimization in a Moving Reference Frame
Vishal Dugar, Sanjiban Choudhury and Sebastian Scherer
Conference Paper, 2017 IEEE International Conference on Robotics and Automation (ICRA), February, 2017

A Multi-Sensor Fusion MAV State Estimation from Long-Range Stereo, IMU, GPS and Barometric Sensors
Yu Song, Stephen T. Nuske and Sebastian Scherer
Journal Article, Sensors, Vol. 17, No. 11, December, 2016

Detecting cars in aerial photographs with a hierarchy of deconvolution nets
Satyaki Chakraborty, Daniel Maturana and Sebastian Scherer
Tech. Report, CMU-RI-TR-16-60, Robotics Institute, Carnegie Mellon University, November, 2016

Nonholonomic motion planning in partially unknown environments using vector fields and optimal planners
Guilherme Augusto Silva Pereira, Sanjiban Choudhury and Sebastian Scherer
Conference Paper, Congresso Brasileiro de Automatica (CBA), October, 2016

Pop-up SLAM: Semantic Monocular Plane SLAM for Low-texture Environments
Shichao Yang, Yu Song, Michael Kaess and Sebastian Scherer
Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2016

Robust Autonomous Flight in Constrained and Visually Degraded Shipboard Environments
Zheng Fang, Shichao Yang, Sezal Jain, Geetesh Dubey, Stephan Roth, Silvio Mano Maeta, Stephen T. Nuske, Yuzhang Wu and Sebastian Scherer
Journal Article, Carnegie Mellon University, Journal of Field Robotics, September, 2016

Robust Autonomous Flight in Constrained and Visually Degraded Shipboard Environments
Zheng Fang, Shichao Yang, Sezal Jain, Geetesh Dubey, Stephan Roth, Silvio Mano Maeta, Stephen T. Nuske, Yuzhang Wu and Sebastian Scherer
Journal Article, Journal of Field Robotics, September, 2016

Modeling and Control of Coaxial UAV with Swashplate Controlled Lower Propeller
Richard Lee, Koushil Sreenath and Sebastian Scherer
Tech. Report, CMU-RI-TR-16-52, Robotics Institute, Carnegie Mellon University, August, 2016

Kinodynamic Motion Planning on Vector Fields using RRT*
Guilherme Augusto Silva Pereira, Sanjiban Choudhury and Sebastian Scherer
Tech. Report, CMU-RI-TR-16-35, Robotics Institute, Carnegie Mellon University, July, 2016

A Framework for Optimal Repairing of Vector Field-based Motion Plans
Guilherme Augusto Silva Pereira, Sanjiban Choudhury and Sebastian Scherer
Conference Paper, Proceedings of the 2016 International Conference of Unmanned Aircraft Systems (ICUAS), pp. 261-266, June, 2016

Constrained CHOMP using Dual Projected Newton Method
Sanjiban Choudhury and Sebastian Scherer
Tech. Report, CMU-RI-TR-16-17, Robotics Institute, Carnegie Mellon University, May, 2016

List Prediction Applied To Motion Planning
Abhijeet Tallavajhula, Sanjiban Choudhury, Sebastian Scherer and Alonzo Kelly
Conference Paper, 2016 IEEE International Conference on Robotics and Automation (ICRA), May, 2016

Real-time 3D Scene Layout from a Single Image Using Convolutional Neural Networks
Shichao Yang, Daniel Maturana and Sebastian Scherer
Conference Paper, International Conference on Robotics and Automation (ICRA), May, 2016

Regionally Accelerated Batch Informed Trees (RABIT*): A Framework to Integrate Local Information into Optimal Path Planning
Sanjiban Choudhury, Jonathan D. Gammell, Timothy D. Barfoot, Siddhartha Srinivasa and Sebastian Scherer
Conference Paper, 2016 IEEE International Conference on Robotics and Automation (ICRA), May, 2016

Mixed-Initiative Control of a Roadable Air Vehicle for Non-Pilots
Michael C. Dorneich, Emmanuel Letsu-Dake, Sanjiv Singh, Sebastian Scherer, Lyle J. Chamberlain and Marcel Bergerman
Journal Article, Carnegie Mellon University, Journal of Human-Robot Interaction, Vol. 4, No. 3, pp. 38-61, December, 2015

Multi-Scale Convolutional Architecture for Semantic Segmentation
Aman Raj, Daniel Maturana and Sebastian Scherer
Tech. Report, CMU-RI-TR-15-21, Robotics Institute, Carnegie Mellon University, pp. 14, October, 2015

Online Safety Verification of Trajectories for Unmanned Flight with Offline Computed Robust Invariant Sets
Daniel Althoff, Matthias Althoff and Sebastian Scherer
Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2015

Recognition of Human Group Activity for Video Analytics
Jaeyong Ju, Cheoljong Yang, Sebastian Scherer and Hanseok Ko
Conference Paper, Advances in Multimedia Information Processing, pp. 735, September, 2015

VoxNet: A 3D Convolutional Neural Network for Real-Time Object Recognition
Daniel Maturana and Sebastian Scherer
Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2015

Theoretical Limits of Speed and Resolution for Kinodynamic Planning in a Poisson Forest
Sanjiban Choudhury, Sebastian Scherer and J. Andrew (Drew) Bagnell
Conference Paper, Robotics Science and Systems, July, 2015

Autonomous Exploration and Motion Planning for an Unmanned Aerial Vehicle Navigating Rivers
Stephen T. Nuske, Sanjiban Choudhury, Sezal Jain, Andrew D. Chambers, Luke Yoder, Sebastian Scherer, Lyle J. Chamberlain, Hugh Cover and Sanjiv Singh
Journal Article, Carnegie Mellon University, Journal of Field Robotics, June, 2015

Autonomous Exploration for Infrastructure Modeling with a Micro Aerial Vehicle
Luke Yoder and Sebastian Scherer
Conference Paper, Field and Service Robotics, June, 2015

Learning a Context-Dependent Switching Strategy for Robust Visual Odometry
Kristen Holtz, Daniel Maturana and Sebastian Scherer
Conference Paper, Field and Service Robotics, June, 2015

Robust Autonomous Flight in Constrained and Visually Degraded Environments
Zheng Fang, Shichao Yang, Sezal Jain, Geetesh Dubey, Silvio Mano Maeta, Stephan Roth, Sebastian Scherer, Yu Zhang and Stephen T. Nuske
Conference Paper, Field and Service Robotics, June, 2015

Emergency Maneuver Library – Ensuring Safe Navigation in Partially Known Environments
Sankalp Arora, Sanjiban Choudhury, Daniel Althoff and Sebastian Scherer
Conference Paper, 2015 IEEE International Conference on Robotics and Automation, May, 2015

PASP: Policy Based Approach for Sensor Planning
Sankalp Arora and Sebastian Scherer
Conference Paper, 2015 IEEE International Conference on Robotics and Automation, May, 2015

Real-time Onboard 6DoF Localization of an Indoor MAV in Degraded Visual Environments Using a RGB-D Camera
Zheng Fang and Sebastian Scherer
Conference Paper, 2015 IEEE International Conference on Robotics and Automation, May, 2015

The Dynamics Projection Filter (DPF) – Real-Time Nonlinear Trajectory Optimization Using Projection Operators
Sanjiban Choudhury and Sebastian Scherer
Conference Paper, IEEE International Conference on Robotics and Automation, May, 2015

The Planner Ensemble: Motion Planning by Executing Diverse Algorithms
Sanjiban Choudhury, Sankalp Arora and Sebastian Scherer
Conference Paper, IEEE Conference on Robotics and Automation, May, 2015

3D Convolutional Neural Networks for Landing Zone Detection from LiDAR
Daniel Maturana and Sebastian Scherer
Conference Paper, International Conference on Robotics and Automation, March, 2015

Connected Invariant Sets for High-Speed Motion Planning in Partially-Known Environments
Daniel Althoff and Sebastian Scherer
Conference Paper, 2015 IEEE International Conference on Robotics and Automation, March, 2015

High-precision Autonomous Flight in Constrained Shipboard Environments
Shichao Yang, Zheng Fang, Sezal Jain, Geetesh Dubey, Silvio Mano Maeta, Stephan Roth, Sebastian Scherer, Yu Zhang and Stephen T. Nuske
Tech. Report, CMU-RI-TR-15-06, Robotics Institute, Carnegie Mellon University, February, 2015

Experimental Study of Odometry Estimation Methods using RGB-D Cameras
Zheng Fang and Sebastian Scherer
Conference Paper, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September, 2014

Learning Motion Planning Assumptions
Anirudh Vemula, Sanjiban Choudhury and Sebastian Scherer
Tech. Report, CMU-RI-TR-14-14, Robotics Institute, Carnegie Mellon University, August, 2014

Visual Odometry in Smoke Occluded Environments
Aditya Agarwal, Daniel Maturana and Sebastian Scherer
PhD Thesis, Tech. Report, CMU-RI-TR-15-07, Robotics Institute, Carnegie Mellon University, July, 2014

Robust Multi-Sensor Fusion for Micro Aerial Vehicle Navigation in GPS-Degraded/Denied Environments
Andrew D. Chambers, Sebastian Scherer, Luke Yoder, Sezal Jain, Stephen T. Nuske and Sanjiv Singh
Conference Paper, In Proceedings of American Control Conference, Portland, OR, June, 2014

A Principled Approach to Enable Safe and High Performance Maneuvers for Autonomous Rotorcraft
Sankalp Arora, Sanjiban Choudhury, Sebastian Scherer and Daniel Althoff
Conference Paper, AHS 70th Annual Forum, Montre ́al, Que ́bec, Canada, May 20-22, May, 2014

The Planner Ensemble and Trajectory Executive: A High Performance Motion Planning System with Guaranteed Safety
Sanjiban Choudhury, Sankalp Arora and Sebastian Scherer
Conference Paper, AHS 70th Annual Forum, Montre ́al, Que ́bec, Canada, May, 2014

Autonomous River Exploration
Sezal Jain, Stephen T. Nuske, Andrew D. Chambers, Luke Yoder, Hugh Cover, Lyle J. Chamberlain, Sebastian Scherer and Sanjiv Singh
Conference Paper, Field and Service Robotics, Brisbane, December, 2013

Robocopters to the Rescue
Lyle Chamberlain and Sebastian Scherer
Magazine Article, Carnegie Mellon University, September, 2013

Autonomous Emergency Landing of a Helicopter: Motion Planning with Hard Time-Constraints
Sanjiban Choudhury, Sebastian Scherer and Sanjiv Singh
Conference Paper, AHS Forum 69, May, 2013

First Results in Detecting and Avoiding Frontal Obstacles from a Monocular Camera for Micro Unmanned Aerial Vehicles
Tomoyuki Mori and Sebastian Scherer
Conference Paper, International Conference on Robotics and Automation, May, 2013

Infrastructure-free Shipdeck Tracking for Autonomous Landing
Sankalp Arora, Sezal Jain, Sebastian Scherer, Stephen T. Nuske, Lyle J. Chamberlain and Sanjiv Singh
Conference Paper, International Conference on Robotics and Automation, May, 2013

RRT*-AR: Sampling-Based Alternate Routes Planning with Applications to Autonomous Emergency Landing of a Helicopter
Sanjiban Choudhury, Sebastian Scherer and Sanjiv Singh
Conference Paper, International Conference on Robotics and Automation, May, 2013

Sparse Tangential Network (SPARTAN): Motion Planning for Micro Aerial Vehicles
Hugh Cover, Sanjiban Choudhury, Sebastian Scherer and Sanjiv Singh
Conference Paper, International Conference on Robotics and Automation, May, 2013

Realtime Alternate Routes Planning:The RRT*-AR Algorithm
Sanjiban Choudhury, Sebastian Scherer and Sanjiv Singh
Tech. Report, CMU-RI-TR-12-27, Robotics Institute, Carnegie Mellon University, December, 2012

Autonomous landing at unprepared sites by a full-scale helicopter
Sebastian Scherer, Lyle J. Chamberlain and Sanjiv Singh
Journal Article, Carnegie Mellon University, Robotics and Autonomous Systems, September, 2012

First Results in Autonomous Landing and Obstacle Avoidance by a Full-Scale Helicopter
Sebastian Scherer, Lyle J. Chamberlain and Sanjiv Singh
Conference Paper, ICRA, May, 2012

River mapping from a flying robot: state estimation, river detection, and obstacle mapping
Sebastian Scherer, Joern Rehder, Supreeth Achar, Hugh Cover, Andrew D. Chambers, Stephen T. Nuske and Sanjiv Singh
Journal Article, Carnegie Mellon University, Autonomous Robots, Vol. 32, No. 5, May, 2012

Multiple-Objective Motion Planning for Unmanned Aerial Vehicles
Sebastian Scherer and Sanjiv Singh
Conference Paper, Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), September, 2011

Perception for a River Mapping Robot
Andrew D. Chambers, Supreeth Achar, Stephen T. Nuske, Joern Rehder, Bernd Manfred Kitt, Lyle J. Chamberlain, Justin Haines, Sebastian Scherer and Sanjiv Singh
Conference Paper, Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), September, 2011

Navigation and Control for Micro Aerial Vehicles in GPS-Denied Environments
Rudolph Molero Fernandez, Sebastian Scherer, Lyle J. Chamberlain and Sanjiv Singh
Tech. Report, CMU-RI-TR-10-08, Robotics Institute, Carnegie Mellon University, June, 2011

Low-Altitude Operation of Unmanned Rotorcraft
Sebastian Scherer
PhD Thesis, Tech. Report, CMU-RI-TR-11-03, Robotics Institute, Carnegie Mellon University, May, 2011

Self-Supervised Segmentation of River Scenes
Supreeth Achar, Bharath Sankaran, Stephen T. Nuske, Sebastian Scherer and Sanjiv Singh
Conference Paper, ICRA 2011, May, 2011

Self-Aware Helicopters: Full-Scale Automated Landing and Obstacle Avoidance in Unmapped Environments
Lyle J. Chamberlain, Sebastian Scherer and Sanjiv Singh
Conference Paper, AHS Forum 67, March, 2011

Online Assessment of Landing Sites
Sebastian Scherer, Lyle J. Chamberlain and Sanjiv Singh
Conference Paper, AIAA [email protected] 2010, April, 2010

Efficient C-Space and Cost Function Updates in 3D for Unmanned Aerial Vehicles
Sebastian Scherer, David Ferguson and Sanjiv Singh
Conference Paper, Proceedings International Conference on Robotics and Automation, May, 2009

Flying Fast and Low Among Obstacles: Methodology and Experiments
Sebastian Scherer, Sanjiv Singh, Lyle J. Chamberlain and Mike Elgersma
Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 27, No. 5, pp. 549-574, May, 2008

Flying Fast and Low Among Obstacles
Sebastian Scherer, Sanjiv Singh, Lyle J. Chamberlain and Srikanth Saripalli
Conference Paper, Proceedings International Conference on Robotics and Automation, April, 2007

Tartan Racing: A Multi-Modal Approach to the DARPA Urban Challenge
Christopher Urmson, Joshua Anhalt, J. Andrew (Drew) Bagnell, Christopher R. Baker, Robert E. Bittner, John M. Dolan, David Duggins, David Ferguson, Tugrul Galatali, Hartmut Geyer, Michele Gittleman, Sam Harbaugh, Martial Hebert, Thomas Howard, Alonzo Kelly, David Kohanbash, Maxim Likhachev, Nick Miller, Kevin Peterson, Raj Rajkumar, Paul Rybski, Bryan Salesky, Sebastian Scherer, Young-Woo Seo, Reid Simmons, Sanjiv Singh, Jarrod M. Snider, Anthony (Tony) Stentz, William (Red) L. Whittaker and Jason Ziglar
Tech. Report, Robotics Institute, Carnegie Mellon University, DARPA Grand Challenge Tech Report, April, 2007

Learning Obstacle Avoidance Parameters from Operator Behavior
Bradley Hamner, Sanjiv Singh and Sebastian Scherer
Journal Article, Carnegie Mellon University, Special Issue on Machine Learning Based Robotics in Unstructured Environments, Journal of Field Robotics, Vol. 23, No. 12-Nov, pp. 1037-1058, December, 2006

Learning to Drive Among Obstacles
Bradley Hamner, Sebastian Scherer and Sanjiv Singh
Conference Paper, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2663 - 2669, October, 2006

Model Checking of Robotic Control Systems
Sebastian Scherer, Flavio Lerda and Edmund M. Clarke
Conference Paper, Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), September, 2005