Lukas Bernreiter

Engineering · Physical Sciences

11h-index699citations25works3.02yr avg
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Research Topics

Robotics and Sensor-Based Localization(20), Modular Robots and Swarm Intelligence(7), Robotic Path Planning Algorithms(6), Indoor and Outdoor Localization Technologies(5), Advanced Image and Video Retrieval Techniques(4)

Publications25 total

CompSLAM: Complementary Hierarchical Multi-Modal Localization and Mapping for Robot Autonomy in Underground Environments
arXiv (Cornell University)·2025Open Access
A framework for collaborative multi-robot mapping using spectral graph wavelets
The International Journal of Robotics Research·2024· 5 citedOpen Access
Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned
Field Robotics·2024· 4 citedOpen Access
Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge
IEEE Transactions on Robotics·2023· 153 cited
SphNet: A Spherical Network for Semantic Pointcloud Segmentation
2023· 1 cited
maplab 2.0 – A Modular and Multi-Modal Mapping Framework
IEEE Robotics and Automation Letters·2022· 56 cited
maplab 2.0 -- A Modular and Multi-Modal Mapping Framework
arXiv (Cornell University)·2022· 1 citedOpen Access
A Framework for Collaborative Multi-Robot Mapping using Spectral Graph Wavelets
arXiv (Cornell University)·2022Open Access
SphNet: A Spherical Network for Semantic Pointcloud Segmentation
arXiv (Cornell University)·2022Open Access
Present and Future of SLAM in Extreme Underground Environments
arXiv (Cornell University)·2022· 38 citedOpen Access
CERBERUS in the DARPA Subterranean Challenge
Science Robotics·2022· 210 citedOpen Access
Collaborative Robot Mapping using Spectral Graph Analysis
2022 International Conference on Robotics and Automation (ICRA)·2022· 9 cited
Collaborative Robot Mapping using Spectral Graph Analysis
arXiv (Cornell University)·2022Open Access
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge
Repository for Publications and Research Data (ETH Zurich)·2022· 21 citedOpen Access
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge
Field Robotics·2022· 106 citedOpen Access
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge
arXiv (Cornell University)·2022· 2 citedOpen Access
Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned
arXiv (Cornell University)·2022· 15 citedOpen Access
Certainty Aware Global Localisation Using 3D Point Correspondences
IEEE Robotics and Automation Letters·2021· 2 cited
3D3L: Deep Learned 3D Keypoint Detection and Description for LiDARs
2021· 1 citedOpen Access
Spherical Multi-Modal Place Recognition for Heterogeneous Sensor Systems
2021Open Access
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Frequent Co-authors

Roland Siegwart(22), Shehryar Khattak(13), César Cadena(13), Marco Hutter(12), Lionel Ott(10), Kostas Alexis(9), Victor Reijgwart(8), Marius Fehr(7), Juan Nieto(7), Marco Tranzatto(6), Mihir Dharmadhikari(6), Mihir Kulkarni(6), Frank Mascarich(6), Marco Camurri(5), David Wisth(5), Samuel Zimmermann(5), Nikhil Khedekar(5), Timon Homberger(5), Paolo De Petris(5), Lorenz Wellhausen(5)