Stefan Leutenegger

Technical University of Munich — Germany

Engineering · Physical Sciences

38h-index14.1kcitations174works2.62yr avg
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Research Topics

Robotics and Sensor-Based Localization(100), Advanced Vision and Imaging(59), 3D Surveying and Cultural Heritage(38), Robotic Path Planning Algorithms(29), Advanced Image and Video Retrieval Techniques(27)

Publications174 total

Robotic Deconstruction of Brickwork Enabled by Spatial Artificial Intelligence
2026Open Access
HumanMPC - Safe and Efficient MAV Navigation among Humans
arXiv (Cornell University)·2025Open Access
Scalable Outdoors Autonomous Drone Flight with Visual-Inertial SLAM and Dense Submaps Built without LiDAR
2025
REGRACE: A Robust and Efficient Graph-based Re-localization Algorithm using Consistency Evaluation
2025
Actron3D: Learning Actionable Neural Functions from Videos for Transferable Robotic Manipulation
arXiv (Cornell University)·2025Open Access
CoRe-GS: Coarse-to-Refined Gaussian Splatting with Semantic Object Focus
arXiv (Cornell University)·2025Open Access
GSFix3D: Diffusion-Guided Repair of Novel Views in Gaussian Splatting
arXiv (Cornell University)·2025Open Access
VidBot: Learning Generalizable 3D Actions from In-the-Wild 2D Human Videos for Zero-Shot Robotic Manipulation
2025· 2 cited
Efficient Submap-based Autonomous MAV Exploration using Visual-Inertial SLAM Configurable for LiDARs or Depth Cameras
2025
SOLVR: Submap Oriented LiDAR-Visual Re-Localisation
2025
Digiforests: a Longitudinal Lidar Dataset for Forestry Robotics
2025· 1 cited
Uncertainty-Aware Visual-Inertial SLAM with Volumetric Occupancy Mapping
2025· 1 cited
FrontierNet: Learning Visual Cues to Explore
IEEE Robotics and Automation Letters·2025· 1 cited
FindAnything: Open-Vocabulary and Object-Centric Mapping for Robot Exploration in Any Environment
ArXiv.org·2025Open Access
FrontierNet: Learning Visual Cues to Explore
arXiv (Cornell University)·2025Open Access
AEPnP: A Less-Constrained EPnP Solver for Pose Estimation with Anisotropic Scaling
Lecture notes in computer science·2025· 2 cited
OKVIS2-X: Open Keyframe-Based Visual-Inertial SLAM Configurable With Dense Depth or LiDAR, and GNSS
IEEE Transactions on Robotics·2025· 1 citedOpen Access
Robotic Brickwork Deconstruction Enabled by Spatial Artificial Intelligence
SSRN Electronic Journal·2025Open Access
Int-HRL: towards intention-based hierarchical reinforcement learning
Neural Computing and Applications·2024· 1 citedOpen Access
GSFusion: Online RGB-D Mapping Where Gaussian Splatting Meets TSDF Fusion
IEEE Robotics and Automation Letters·2024· 12 cited
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Frequent Co-authors

Roland Siegwart(19), Andrew J. Davison(18), Michael Bloesch(9), John McCormac(7), Dimos Tzoumanikas(7), Wenbin Li(7), Tristan Laidlow(5), Paul Furgale(4), Ankur Handa(4), Ronald Clark(4), Marco Hutter(4), Christian Gehring(4), Amir Melzer(4), Kostas Alexis(4), Margarita Chli(3), Thomas J. Whelan(3), Ben Glocker(3), Edward Johns(3), Ketao Zhang(3), Mirko Kovač(3)