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ORCIDJens Behley
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Publications
- 2026
[j47]Daniel Casado Herraez
, Matthias Zeller, Dong Wang, Jens Behley, Michael Heidingsfeld, Cyrill Stachniss:
Multi-Session Mapping and Long-Term Localization for Autonomous Vehicles Using Radar. IEEE Robotics Autom. Lett. 11(3): 2522-2529 (2026)- [c56]Matthias Zeller, Vardeep S. Sandhu, Benedikt Mersch, Jens Behley, Michael Heidingsfeld, Cyrill Stachniss:
Radar Instance Transformer: Reliable Moving Instance Segmentation in Sparse Radar Point Clouds (Abstract Reprint). AAAI 2026: 39906 - [i56]Fang Nan, Meher V. R. Malladi, Qingqing Li, Fan Yang, Joonas Juola, Tiziano Guadagnino, Jens Behley, César Cadena, Cyrill Stachniss, Marco Hutter:
SAHA: Supervised Autonomous HArvester for selective forest thinning. CoRR abs/2601.01282 (2026) - 2025
- [j46]Gianmarco Roggiolani, Julius Rückin, Marija Popovic, Jens Behley, Cyrill Stachniss:
Unsupervised semantic label generation in agricultural fields. Frontiers Robotics AI 12 (2025) - [j45]Matthias Zeller, Daniel Casado Herraez, Bengisu Ayan, Jens Behley, Michael Heidingsfeld, Cyrill Stachniss:
SemRaFiner: Panoptic Segmentation in Sparse and Noisy Radar Point Clouds. IEEE Robotics Autom. Lett. 10(2): 923-930 (2025) - [j44]Liren Jin, Xingguang Zhong, Yue Pan, Jens Behley, Cyrill Stachniss, Marija Popovic:
ActiveGS: Active Scene Reconstruction Using Gaussian Splatting. IEEE Robotics Autom. Lett. 10(5): 4866-4873 (2025) - [j43]Rodrigo Marcuzzi, Lucas Nunes, Elias Marks, Louis Wiesmann, Thomas Läbe, Jens Behley, Cyrill Stachniss:
SfmOcc: Vision-Based 3D Semantic Occupancy Prediction in Urban Environments. IEEE Robotics Autom. Lett. 10(5): 5074-5081 (2025) - [j42]Daniel Casado Herraez, Matthias Zeller, Dong Wang, Jens Behley, Michael Heidingsfeld, Cyrill Stachniss:
RaI-SLAM: Radar-Inertial SLAM for Autonomous Vehicles. IEEE Robotics Autom. Lett. 10(6): 5257-5264 (2025) - [c55]Meher V. R. Malladi, Nived Chebrolu, Irene Scacchetti, Luca Lobefaro, Tiziano Guadagnino, Benoît Casseau, Haedam Oh, Leonard Freißmuth, Markus Karppinen, Janine Schweier, Stefan Leutenegger, Jens Behley, Cyrill Stachniss, Maurice F. Fallon:
Digiforests: a Longitudinal Lidar Dataset for Forestry Robotics. ICRA 2025: 1459-1466 - [c54]Haofei Kuang, Yue Pan, Xingguang Zhong, Louis Wiesmann, Jens Behley, Cyrill Stachniss:
Improving Indoor Localization Accuracy by Using an Efficient Implicit Neural Map Representation. ICRA 2025: 8027-8033 - [c53]Daniel Casado Herraez, Franz Kaschner, Matthias Zeller, Dominik Muhle, Jens Behley, Michael Heidingsfeld, Daniel Cremers, Cyrill Stachniss:
Ground-Aware Automotive Radar Odometry. ICRA 2025: 13007-13013 - [c52]Federico Magistri, Thomas Läbe, Elias Marks, Sumanth Nagulavancha, Yue Pan, Claus Smitt, Lasse Klingbeil, Michael Halstead, Heiner Kuhlmann, Chris McCool, Jens Behley, Cyrill Stachniss:
A Dataset and Benchmark for Shape Completion of Fruits for Agricultural Robotics. ICRA 2025: 16774-16780 - [c51]Matteo Sodano, Federico Magistri, Elias Marks, Fares Hosn, Aibek Zurbayev, Rodrigo Marcuzzi, Meher V. R. Malladi, Jens Behley, Cyrill Stachniss:
3D Hierarchical Panoptic Segmentation in Real Orchard Environments Across Different Sensors. IROS 2025: 1223-1230 - [c50]Yue Linn Chong, Lucas Nunes, Federico Magistri, Xingguang Zhong, Jens Behley, Cyrill Stachniss:
Zero-Shot Semantic Segmentation for Robots in Agriculture. IROS 2025: 5432-5439 - [c49]Khanh Son Pham, Christian Witte, Jens Behley, Johannes Betz, Cyrill Stachniss:
Coherent Online Road Topology Estimation and Reasoning with Standard-Definition Maps. IROS 2025: 9886-9893 - [c48]Niklas Trekel, Tiziano Guadagnino, Thomas Läbe, Louis Wiesmann, Perrine Aguiar, Jens Behley, Cyrill Stachniss:
Benchmark for Evaluating Long-Term Localization in Indoor Environments under Substantial Static and Dynamic Scene Changes. IROS 2025: 10770-10777 - [c47]Christian Witte, Jens Behley, Cyrill Stachniss, Marvin Raaijmakers:
Epipolar Attention Field Transformers for Bird's Eye View Semantic Segmentation. WACV 2025: 8660-8669 - [i55]Yue Pan, Xingguang Zhong, Liren Jin, Louis Wiesmann, Marija Popovic, Jens Behley, Cyrill Stachniss:
PINGS: Gaussian Splatting Meets Distance Fields within a Point-Based Implicit Neural Map. CoRR abs/2502.05752 (2025) - [i54]Matteo Sodano, Federico Magistri, Elias Marks, Fares Hosn, Aibek Zurbayev, Rodrigo Marcuzzi, Meher V. R. Malladi, Jens Behley, Cyrill Stachniss:
3D Hierarchical Panoptic Segmentation in Real Orchard Environments Across Different Sensors. CoRR abs/2503.13188 (2025) - [i53]Lucas Nunes, Rodrigo Marcuzzi, Jens Behley, Cyrill Stachniss:
Towards Generating Realistic 3D Semantic Training Data for Autonomous Driving. CoRR abs/2503.21449 (2025) - [i52]Haofei Kuang, Yue Pan, Xingguang Zhong, Louis Wiesmann, Jens Behley, Cyrill Stachniss:
Improving Indoor Localization Accuracy by Using an Efficient Implicit Neural Map Representation. CoRR abs/2503.23480 (2025) - [i51]Xingguang Zhong, Yue Pan, Liren Jin, Marija Popovic, Jens Behley, Cyrill Stachniss:
Globally Consistent RGB-D SLAM with 2D Gaussian Splatting. CoRR abs/2506.00970 (2025) - [i50]Khanh Son Pham, Christian Witte, Jens Behley, Johannes Betz, Cyrill Stachniss:
Coherent Online Road Topology Estimation and Reasoning with Standard-Definition Maps. CoRR abs/2507.01397 (2025) - [i49]Matthias Zeller, Daniel Casado Herraez, Jens Behley, Michael Heidingsfeld, Cyrill Stachniss:
Radar Tracker: Moving Instance Tracking in Sparse and Noisy Radar Point Clouds. CoRR abs/2507.03441 (2025) - [i48]Matthias Zeller, Vardeep S. Sandhu, Benedikt Mersch, Jens Behley, Michael Heidingsfeld, Cyrill Stachniss:
Radar Velocity Transformer: Single-scan Moving Object Segmentation in Noisy Radar Point Clouds. CoRR abs/2507.03463 (2025) - [i47]Matthias Zeller, Daniel Casado Herraez, Bengisu Ayan, Jens Behley, Michael Heidingsfeld, Cyrill Stachniss:
SemRaFiner: Panoptic Segmentation in Sparse and Noisy Radar Point Clouds. CoRR abs/2507.06906 (2025) - [i46]Yue Pan, Tao Sun, Liyuan Zhu, Lucas Nunes, Iro Armeni, Jens Behley, Cyrill Stachniss:
Register Any Point: Scaling 3D Point Cloud Registration by Flow Matching. CoRR abs/2512.01850 (2025) - [i45]Xingguang Zhong, Liren Jin, Marija Popovic, Jens Behley, Cyrill Stachniss:
Dynamic Visual SLAM using a General 3D Prior. CoRR abs/2512.06868 (2025) - 2024
- [j41]Jan Weyler, Federico Magistri, Elias Marks, Yue Linn Chong, Matteo Sodano, Gianmarco Roggiolani, Nived Chebrolu, Cyrill Stachniss, Jens Behley:
PhenoBench: A Large Dataset and Benchmarks for Semantic Image Interpretation in the Agricultural Domain. IEEE Trans. Pattern Anal. Mach. Intell. 46(12): 9583-9594 (2024) - [j40]Jan Weyler, Thomas Läbe, Jens Behley, Cyrill Stachniss:
Panoptic Segmentation With Partial Annotations for Agricultural Robots. IEEE Robotics Autom. Lett. 9(2): 1660-1667 (2024) - [j39]Federico Magistri, Yue Pan, Jake Bartels, Jens Behley, Cyrill Stachniss, Chris Lehnert:
Improving Robotic Fruit Harvesting Within Cluttered Environments Through 3D Shape Completion. IEEE Robotics Autom. Lett. 9(8): 7357-7364 (2024) - [j38]Daniel Casado Herraez, Le Chang, Matthias Zeller, Louis Wiesmann, Jens Behley, Michael Heidingsfeld, Cyrill Stachniss:
SPR: Single-Scan Radar Place Recognition. IEEE Robotics Autom. Lett. 9(10): 9079-9086 (2024) - [j37]Louis Wiesmann, Thomas Läbe, Lucas Nunes, Jens Behley, Cyrill Stachniss:
Joint Intrinsic and Extrinsic Calibration of Perception Systems Utilizing a Calibration Environment. IEEE Robotics Autom. Lett. 9(10): 9103-9110 (2024) - [j36]Matthias Zeller, Vardeep S. Sandhu, Benedikt Mersch, Jens Behley, Michael Heidingsfeld, Cyrill Stachniss:
Radar Instance Transformer: Reliable Moving Instance Segmentation in Sparse Radar Point Clouds. IEEE Trans. Robotics 40: 2357-2372 (2024) - [j35]Yue Pan, Xingguang Zhong, Louis Wiesmann, Thorbjörn Posewsky, Jens Behley, Cyrill Stachniss:
PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistency. IEEE Trans. Robotics 40: 4045-4064 (2024) - [c46]Matteo Sodano, Federico Magistri, Lucas Nunes, Jens Behley, Cyrill Stachniss:
Open-World Semantic Segmentation Including Class Similarity. CVPR 2024: 3184-3194 - [c45]Lucas Nunes, Rodrigo Marcuzzi, Benedikt Mersch, Jens Behley, Cyrill Stachniss:
Scaling Diffusion Models to Real-World 3D LiDAR Scene Completion. CVPR 2024: 14770-14780 - [c44]Xingguang Zhong, Yue Pan, Cyrill Stachniss, Jens Behley:
3D LiDAR Mapping in Dynamic Environments Using a 4D Implicit Neural Representation. CVPR 2024: 15417-15427 - [c43]Federico Magistri, Rodrigo Marcuzzi, Elias Marks, Matteo Sodano, Jens Behley, Cyrill Stachniss:
Efficient and Accurate Transformer-Based 3D Shape Completion and Reconstruction of Fruits for Agricultural Robots. ICRA 2024: 8657-8663 - [c42]Matthias Zeller, Daniel Casado Herraez, Jens Behley, Michael Heidingsfeld, Cyrill Stachniss:
Radar Tracker: Moving Instance Tracking in Sparse and Noisy Radar Point Clouds. ICRA 2024: 16170-16177 - [c41]Meher V. R. Malladi, Tiziano Guadagnino, Luca Lobefaro, Matías Mattamala, Holger Griess, Janine Schweier, Nived Chebrolu, Maurice F. Fallon, Jens Behley, Cyrill Stachniss:
Tree Instance Segmentation and Traits Estimation for Forestry Environments Exploiting LiDAR Data Collected by Mobile Robots. ICRA 2024: 17933-17940 - [c40]Elias Marks, Jonas Bömer, Federico Magistri, Anurag Sag, Jens Behley, Cyrill Stachniss:
BonnBeetClouds3D: A Dataset Towards Point Cloud-Based Organ-Level Phenotyping of Sugar Beet Plants Under Real Field Conditions. IROS 2024: 1804-1811 - [c39]Hyungtae Lim, Seoyeon Jang, Benedikt Mersch, Jens Behley, Hyun Myung, Cyrill Stachniss:
HeLiMOS: A Dataset for Moving Object Segmentation in 3D Point Clouds From Heterogeneous LiDAR Sensors. IROS 2024: 14087-14094 - [i44]Gianmarco Roggiolani, Federico Magistri, Tiziano Guadagnino, Jens Behley, Cyrill Stachniss:
Unsupervised Pre-Training for 3D Leaf Instance Segmentation. CoRR abs/2401.08720 (2024) - [i43]Yue Pan, Xingguang Zhong, Louis Wiesmann, Thorbjörn Posewsky, Jens Behley, Cyrill Stachniss:
PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistency. CoRR abs/2401.09101 (2024) - [i42]Matteo Sodano, Federico Magistri, Lucas Nunes, Jens Behley, Cyrill Stachniss:
Open-World Semantic Segmentation Including Class Similarity. CoRR abs/2403.07532 (2024) - [i41]Lucas Nunes, Rodrigo Marcuzzi, Benedikt Mersch, Jens Behley, Cyrill Stachniss:
Scaling Diffusion Models to Real-World 3D LiDAR Scene Completion. CoRR abs/2403.13470 (2024) - [i40]Xingguang Zhong, Yue Pan, Cyrill Stachniss, Jens Behley:
3D LiDAR Mapping in Dynamic Environments Using a 4D Implicit Neural Representation. CoRR abs/2405.03388 (2024) - [i39]Federico Magistri, Thomas Läbe, Elias Marks, Sumanth Nagulavancha, Yue Pan, Claus Smitt, Lasse Klingbeil, Michael Halstead, Heiner Kuhlmann, Chris McCool, Jens Behley, Cyrill Stachniss:
A Dataset and Benchmark for Shape Completion of Fruits for Agricultural Robotics. CoRR abs/2407.13304 (2024) - [i38]Hyungtae Lim, Seoyeon Jang, Benedikt Mersch, Jens Behley, Hyun Myung, Cyrill Stachniss:
HeLiMOS: A Dataset for Moving Object Segmentation in 3D Point Clouds From Heterogeneous LiDAR Sensors. CoRR abs/2408.06328 (2024) - [i37]Arun Narenthiran Sivakumar, Federico Magistri, Mateus Valverde Gasparino, Jens Behley, Cyrill Stachniss, Girish Chowdhary:
AdaCropFollow: Self-Supervised Online Adaptation for Visual Under-Canopy Navigation. CoRR abs/2410.12411 (2024) - [i36]Daniel Fusaro, Federico Magistri, Jens Behley, Alberto Pretto, Cyrill Stachniss:
Horticultural Temporal Fruit Monitoring via 3D Instance Segmentation and Re-Identification using Point Clouds. CoRR abs/2411.07799 (2024) - [i35]Christian Witte, Jens Behley, Cyrill Stachniss, Marvin Raaijmakers:
Epipolar Attention Field Transformers for Bird's Eye View Semantic Segmentation. CoRR abs/2412.01595 (2024) - [i34]Louis Wiesmann, Elias Marks, Saurabh Gupta, Tiziano Guadagnino, Jens Behley, Cyrill Stachniss:
Efficient LiDAR Bundle Adjustment for Multi-Scan Alignment Utilizing Continuous-Time Trajectories. CoRR abs/2412.11760 (2024) - [i33]Matteo Sodano, Federico Magistri, Jens Behley, Cyrill Stachniss:
Open-World Panoptic Segmentation. CoRR abs/2412.12740 (2024) - [i32]Liren Jin, Xingguang Zhong, Yue Pan, Jens Behley, Cyrill Stachniss, Marija Popovic:
ActiveGS: Active Scene Reconstruction using Gaussian Splatting. CoRR abs/2412.17769 (2024) - 2023
- [j34]Federico Magistri, Jan Weyler, Dario Gogoll, Philipp Lottes, Jens Behley, Nik Petrinic, Cyrill Stachniss:
From one field to another - Unsupervised domain adaptation for semantic segmentation in agricultural robotics. Comput. Electron. Agric. 212: 108114 (2023) - [j33]Nicky Zimmerman, Tiziano Guadagnino, Xieyuanli Chen, Jens Behley, Cyrill Stachniss:
Long-Term Localization Using Semantic Cues in Floor Plan Maps. IEEE Robotics Autom. Lett. 8(1): 176-183 (2023) - [j31]Matthias Zeller, Jens Behley, Michael Heidingsfeld, Cyrill Stachniss:
Gaussian Radar Transformer for Semantic Segmentation in Noisy Radar Data. IEEE Robotics Autom. Lett. 8(1): 344-351 (2023) - [j30]Louis Wiesmann, Lucas Nunes, Jens Behley, Cyrill Stachniss:
KPPR: Exploiting Momentum Contrast for Point Cloud-Based Place Recognition. IEEE Robotics Autom. Lett. 8(2): 592-599 (2023) - [j29]Ignacio Vizzo, Tiziano Guadagnino, Benedikt Mersch, Louis Wiesmann, Jens Behley, Cyrill Stachniss:
KISS-ICP: In Defense of Point-to-Point ICP - Simple, Accurate, and Robust Registration If Done the Right Way. IEEE Robotics Autom. Lett. 8(2): 1029-1036 (2023) - [j28]Rodrigo Marcuzzi, Lucas Nunes, Louis Wiesmann, Jens Behley, Cyrill Stachniss:
Mask-Based Panoptic LiDAR Segmentation for Autonomous Driving. IEEE Robotics Autom. Lett. 8(2): 1141-1148 (2023) - [j27]Haofei Kuang, Xieyuanli Chen, Tiziano Guadagnino, Nicky Zimmerman, Jens Behley, Cyrill Stachniss:
IR-MCL: Implicit Representation-Based Online Global Localization. IEEE Robotics Autom. Lett. 8(3): 1627-1634 (2023) - [j26]Jan Weyler, Thomas Läbe, Federico Magistri, Jens Behley, Cyrill Stachniss:
Towards Domain Generalization in Crop and Weed Segmentation for Precision Farming Robots. IEEE Robotics Autom. Lett. 8(6): 3310-3317 (2023) - [j25]Elias Marks, Matteo Sodano, Federico Magistri, Louis Wiesmann, Dhagash Desai, Rodrigo Marcuzzi, Jens Behley, Cyrill Stachniss:
High Precision Leaf Instance Segmentation for Phenotyping in Point Clouds Obtained Under Real Field Conditions. IEEE Robotics Autom. Lett. 8(8): 4791-4798 (2023) - [j24]Louis Wiesmann, Tiziano Guadagnino, Ignacio Vizzo, Nicky Zimmerman, Yue Pan, Haofei Kuang, Jens Behley, Cyrill Stachniss:
LocNDF: Neural Distance Field Mapping for Robot Localization. IEEE Robotics Autom. Lett. 8(8): 4999-5006 (2023) - [j23]Benedikt Mersch, Tiziano Guadagnino, Xieyuanli Chen, Ignacio Vizzo, Jens Behley, Cyrill Stachniss:
Building Volumetric Beliefs for Dynamic Environments Exploiting Map-Based Moving Object Segmentation. IEEE Robotics Autom. Lett. 8(8): 5180-5187 (2023) - [j22]Yue Linn Chong, Jan Weyler, Philipp Lottes, Jens Behley, Cyrill Stachniss:
Unsupervised Generation of Labeled Training Images for Crop-Weed Segmentation in New Fields and on Different Robotic Platforms. IEEE Robotics Autom. Lett. 8(8): 5259-5266 (2023) - [j21]Gianmarco Roggiolani, Federico Magistri, Tiziano Guadagnino, Jens Behley, Cyrill Stachniss:
Unsupervised Pre-Training for 3D Leaf Instance Segmentation. IEEE Robotics Autom. Lett. 8(11): 7448-7455 (2023) - [j20]Rodrigo Marcuzzi, Lucas Nunes, Louis Wiesmann, Elias Marks, Jens Behley, Cyrill Stachniss:
Mask4D: End-to-End Mask-Based 4D Panoptic Segmentation for LiDAR Sequences. IEEE Robotics Autom. Lett. 8(11): 7487-7494 (2023) - [c38]Lucas Nunes, Louis Wiesmann, Rodrigo Marcuzzi, Xieyuanli Chen, Jens Behley, Cyrill Stachniss:
Temporal Consistent 3D LiDAR Representation Learning for Semantic Perception in Autonomous Driving. CVPR 2023: 5217-5228 - [c37]Hanna Müller, Nicky Zimmerman, Tommaso Polonelli, Michele Magno, Jens Behley, Cyrill Stachniss, Luca Benini:
Fully On-board Low-Power Localization with Multizone Time-of-Flight Sensors on Nano-UAVs. DATE 2023: 1-6 - [c36]Matteo Sodano, Federico Magistri, Tiziano Guadagnino, Jens Behley, Cyrill Stachniss:
Robust Double-Encoder Network for RGB-D Panoptic Segmentation. ICRA 2023: 4953-4959 - [c35]Matthias Zeller, Vardeep S. Sandhu, Benedikt Mersch, Jens Behley, Michael Heidingsfeld, Cyrill Stachniss:
Radar Velocity Transformer: Single-scan Moving Object Segmentation in Noisy Radar Point Clouds. ICRA 2023: 7054-7061 - [c34]Xingguang Zhong, Yue Pan, Jens Behley, Cyrill Stachniss:
SHINE-Mapping: Large-Scale 3D Mapping Using Sparse Hierarchical Implicit Neural Representations. ICRA 2023: 8371-8377 - [c33]Gianmarco Roggiolani, Matteo Sodano, Tiziano Guadagnino, Federico Magistri, Jens Behley, Cyrill Stachniss:
Hierarchical Approach for Joint Semantic, Plant Instance, and Leaf Instance Segmentation in the Agricultural Domain. ICRA 2023: 9601-9607 - [c32]Alessandro Riccardi, Shane Kelly, Elias Marks, Federico Magistri, Tiziano Guadagnino, Jens Behley, Maren Bennewitz, Cyrill Stachniss:
Fruit Tracking Over Time Using High-Precision Point Clouds. ICRA 2023: 9630-9636 - [c31]Gianmarco Roggiolani, Federico Magistri, Tiziano Guadagnino, Jan Weyler, Giorgio Grisetti, Cyrill Stachniss, Jens Behley:
On Domain-Specific Pre- Training for Effective Semantic Perception in Agricultural Robotics. ICRA 2023: 11786-11793 - [c30]Nicky Zimmerman, Matteo Sodano, Elias Marks, Jens Behley, Cyrill Stachniss:
Constructing Metric-Semantic Maps Using Floor Plan Priors for Long-Term Indoor Localization. IROS 2023: 1366-1372 - [c29]Yue Pan, Federico Magistri, Thomas Läbe, Elias Marks, Claus Smitt, Chris McCool, Jens Behley, Cyrill Stachniss:
Panoptic Mapping with Fruit Completion and Pose Estimation for Horticultural Robots. IROS 2023: 4226-4233 - [c28]Hyungtae Lim, Lucas Nunes, Benedikt Mersch, Xieyuanli Chen, Jens Behley, Hyun Myung, Cyrill Stachniss:
ERASOR2: Instance-Aware Robust 3D Mapping of the Static World in Dynamic Scenes. Robotics: Science and Systems 2023 - [i31]Yue Pan, Federico Magistri, Thomas Läbe, Elias Marks, Claus Smitt, Chris McCool, Jens Behley, Cyrill Stachniss:
Panoptic Mapping with Fruit Completion and Pose Estimation for Horticultural Robots. CoRR abs/2303.08923 (2023) - [i30]Nicky Zimmerman, Matteo Sodano, Elias Marks, Jens Behley, Cyrill Stachniss:
Long-Term Indoor Localization with Metric-Semantic Mapping using a Floor Plan Prior. CoRR abs/2303.10959 (2023) - [i29]Gianmarco Roggiolani, Federico Magistri, Tiziano Guadagnino, Jan Weyler, Giorgio Grisetti, Cyrill Stachniss, Jens Behley:
On Domain-Specific Pre-Training for Effective Semantic Perception in Agricultural Robotics. CoRR abs/2303.12499 (2023) - [i28]Jan Weyler, Federico Magistri, Elias Marks, Yue Linn Chong, Matteo Sodano, Gianmarco Roggiolani, Nived Chebrolu, Cyrill Stachniss, Jens Behley:
PhenoBench - A Large Dataset and Benchmarks for Semantic Image Interpretation in the Agricultural Domain. CoRR abs/2306.04557 (2023) - [i27]Benedikt Mersch, Tiziano Guadagnino, Xieyuanli Chen, Ignacio Vizzo, Jens Behley, Cyrill Stachniss:
Building Volumetric Beliefs for Dynamic Environments Exploiting Map-Based Moving Object Segmentation. CoRR abs/2307.08314 (2023) - [i26]Matthias Zeller, Vardeep S. Sandhu, Benedikt Mersch, Jens Behley, Michael Heidingsfeld, Cyrill Stachniss:
Radar Instance Transformer: Reliable Moving Instance Segmentation in Sparse Radar Point Clouds. CoRR abs/2309.16435 (2023) - [i25]Elias Marks, Jonas Bömer, Federico Magistri, Anurag Sag, Jens Behley, Cyrill Stachniss:
BonnBeetClouds3D: A Dataset Towards Point Cloud-based Organ-level Phenotyping of Sugar Beet Plants under Field Conditions. CoRR abs/2312.14706 (2023) - 2022
- [j19]Xieyuanli Chen, Thomas Läbe, Andres Milioto, Timo Röhling, Jens Behley, Cyrill Stachniss:
OverlapNet: a siamese network for computing LiDAR scan similarity with applications to loop closing and localization. Auton. Robots 46(1): 61-81 (2022) - [j18]Rodrigo Marcuzzi, Lucas Nunes, Louis Wiesmann, Ignacio Vizzo, Jens Behley, Cyrill Stachniss:
Contrastive Instance Association for 4D Panoptic Segmentation Using Sequences of 3D LiDAR Scans. IEEE Robotics Autom. Lett. 7(2): 1550-1557 (2022) - [j17]Lucas Nunes, Rodrigo Marcuzzi, Xieyuanli Chen, Jens Behley, Cyrill Stachniss:
SegContrast: 3D Point Cloud Feature Representation Learning Through Self-Supervised Segment Discrimination. IEEE Robotics Autom. Lett. 7(2): 2116-2123 (2022) - [j16]Jan Weyler, Jan Quakernack, Philipp Lottes, Jens Behley, Cyrill Stachniss:
Joint Plant and Leaf Instance Segmentation on Field-Scale UAV Imagery. IEEE Robotics Autom. Lett. 7(2): 3787-3794 (2022) - [j15]Xieyuanli Chen, Benedikt Mersch, Lucas Nunes, Rodrigo Marcuzzi, Ignacio Vizzo, Jens Behley, Cyrill Stachniss:
Automatic Labeling to Generate Training Data for Online LiDAR-Based Moving Object Segmentation. IEEE Robotics Autom. Lett. 7(3): 6107-6114 (2022) - [j14]Louis Wiesmann, Tiziano Guadagnino, Ignacio Vizzo, Giorgio Grisetti, Jens Behley, Cyrill Stachniss:
DCPCR: Deep Compressed Point Cloud Registration in Large-Scale Outdoor Environments. IEEE Robotics Autom. Lett. 7(3): 6327-6334 (2022) - [j13]Benedikt Mersch, Xieyuanli Chen, Ignacio Vizzo, Lucas Nunes, Jens Behley, Cyrill Stachniss:
Receding Moving Object Segmentation in 3D LiDAR Data Using Sparse 4D Convolutions. IEEE Robotics Autom. Lett. 7(3): 7503-7510 (2022) - [j12]Tiziano Guadagnino, Xieyuanli Chen, Matteo Sodano, Jens Behley, Giorgio Grisetti, Cyrill Stachniss:
Fast Sparse LiDAR Odometry Using Self-Supervised Feature Selection on Intensity Images. IEEE Robotics Autom. Lett. 7(3): 7597-7604 (2022) - [j11]Ignacio Vizzo, Benedikt Mersch, Rodrigo Marcuzzi, Louis Wiesmann, Jens Behley, Cyrill Stachniss:
Make it Dense: Self-Supervised Geometric Scan Completion of Sparse 3D LiDAR Scans in Large Outdoor Environments. IEEE Robotics Autom. Lett. 7(3): 8534-8541 (2022) - [j10]Lucas Nunes, Xieyuanli Chen, Rodrigo Marcuzzi, Aljosa Osep, Laura Leal-Taixé, Cyrill Stachniss, Jens Behley:
Unsupervised Class-Agnostic Instance Segmentation of 3D LiDAR Data for Autonomous Vehicles. IEEE Robotics Autom. Lett. 7(4): 8713-8720 (2022) - [j9]Federico Magistri, Elias Marks, Sumanth Nagulavancha, Ignacio Vizzo, Thomas Läbe, Jens Behley, Michael Halstead, Chris McCool, Cyrill Stachniss:
Contrastive 3D Shape Completion and Reconstruction for Agricultural Robots Using RGB-D Frames. IEEE Robotics Autom. Lett. 7(4): 10120-10127 (2022) - [j8]Ignacio Vizzo, Tiziano Guadagnino, Jens Behley, Cyrill Stachniss:
VDBFusion: Flexible and Efficient TSDF Integration of Range Sensor Data. Sensors 22(3): 1296 (2022) - [c27]Louis Wiesmann, Rodrigo Marcuzzi, Cyrill Stachniss, Jens Behley:
Retriever: Point Cloud Retrieval in Compressed 3D Maps. ICRA 2022: 10925-10932 - [c26]Nicky Zimmerman, Louis Wiesmann, Tiziano Guadagnino, Thomas Läbe, Jens Behley, Cyrill Stachniss:
Robust Onboard Localization in Changing Environments Exploiting Text Spotting. IROS 2022: 917-924 - [c25]Jan Weyler, Federico Magistri, Peter Seitz, Jens Behley, Cyrill Stachniss:
In-Field Phenotyping Based on Crop Leaf and Plant Instance Segmentation. WACV 2022: 2968-2977 - [i24]Xieyuanli Chen, Benedikt Mersch, Lucas Nunes, Rodrigo Marcuzzi, Ignacio Vizzo, Jens Behley, Cyrill Stachniss:
Automatic Labeling to Generate Training Data for Online LiDAR-based Moving Object Segmentation. CoRR abs/2201.04501 (2022) - [i23]Nicky Zimmerman, Louis Wiesmann, Tiziano Guadagnino, Thomas Läbe, Jens Behley, Cyrill Stachniss:
Robust Onboard Localization in Changing Environments Exploiting Text Spotting. CoRR abs/2203.12647 (2022) - [i22]Benedikt Mersch, Xieyuanli Chen, Ignacio Vizzo, Lucas Nunes, Jens Behley, Cyrill Stachniss:
Receding Moving Object Segmentation in 3D LiDAR Data Using Sparse 4D Convolutions. CoRR abs/2206.04129 (2022) - [i21]Ignacio Vizzo, Tiziano Guadagnino, Benedikt Mersch, Louis Wiesmann, Jens Behley, Cyrill Stachniss:
KISS-ICP: In Defense of Point-to-Point ICP - Simple, Accurate, and Robust Registration If Done the Right Way. CoRR abs/2209.15397 (2022) - [i20]Nicky Zimmerman, Tiziano Guadagnino, Xieyuanli Chen, Jens Behley, Cyrill Stachniss:
Long-Term Localization using Semantic Cues in Floor Plan Maps. CoRR abs/2210.01456 (2022) - [i19]Xingguang Zhong, Yue Pan, Jens Behley, Cyrill Stachniss:
SHINE-Mapping: Large-Scale 3D Mapping Using Sparse Hierarchical Implicit Neural Representations. CoRR abs/2210.02299 (2022) - [i18]Matteo Sodano, Federico Magistri, Tiziano Guadagnino, Jens Behley, Cyrill Stachniss:
Robust Double-Encoder Network for RGB-D Panoptic Segmentation. CoRR abs/2210.02834 (2022) - [i17]Haofei Kuang, Xieyuanli Chen, Tiziano Guadagnino, Nicky Zimmerman, Jens Behley, Cyrill Stachniss:
IR-MCL: Implicit Representation-Based Online Global Localization. CoRR abs/2210.03113 (2022) - [i16]Gianmarco Roggiolani, Matteo Sodano, Tiziano Guadagnino, Federico Magistri, Jens Behley, Cyrill Stachniss:
Hierarchical Approach for Joint Semantic, Plant Instance, and Leaf Instance Segmentation in the Agricultural Domain. CoRR abs/2210.07879 (2022) - [i14]Matthias Zeller, Jens Behley, Michael Heidingsfeld, Cyrill Stachniss:
Gaussian Radar Transformer for Semantic Segmentation in Noisy Radar Data. CoRR abs/2212.03690 (2022) - 2021
- [j7]Jens Behley, Martin Garbade, Andres Milioto, Jan Quenzel, Sven Behnke, Jürgen Gall, Cyrill Stachniss:
Towards 3D LiDAR-based semantic scene understanding of 3D point cloud sequences: The SemanticKITTI Dataset. Int. J. Robotics Res. 40(8-9) (2021) - [j6]Louis Wiesmann, Andres Milioto, Xieyuanli Chen, Cyrill Stachniss, Jens Behley:
Deep Compression for Dense Point Cloud Maps. IEEE Robotics Autom. Lett. 6(2): 2060-2067 (2021) - [j5]Nived Chebrolu, Thomas Läbe, Olga Vysotska, Jens Behley, Cyrill Stachniss:
Adaptive Robust Kernels for Non-Linear Least Squares Problems. IEEE Robotics Autom. Lett. 6(2): 2240-2247 (2021) - [j4]Jan Weyler, Andres Milioto, Tillmann Falck, Jens Behley, Cyrill Stachniss:
Joint Plant Instance Detection and Leaf Count Estimation for In-Field Plant Phenotyping. IEEE Robotics Autom. Lett. 6(2): 3599-3606 (2021) - [j3]Xieyuanli Chen, Shijie Li, Benedikt Mersch, Louis Wiesmann, Jürgen Gall, Jens Behley, Cyrill Stachniss:
Moving Object Segmentation in 3D LiDAR Data: A Learning-Based Approach Exploiting Sequential Data. IEEE Robotics Autom. Lett. 6(4): 6529-6536 (2021) - [c24]Benedikt Mersch, Xieyuanli Chen, Jens Behley, Cyrill Stachniss:
Self-supervised Point Cloud Prediction Using 3D Spatio-temporal Convolutional Networks. CoRL 2021: 1444-1454 - [c23]Mehmet Aygun, Aljosa Osep, Mark Weber, Maxim Maximov, Cyrill Stachniss, Jens Behley, Laura Leal-Taixé:
4D Panoptic LiDAR Segmentation. CVPR 2021: 5527-5537 - [c22]Ignacio Vizzo, Xieyuanli Chen, Nived Chebrolu, Jens Behley, Cyrill Stachniss:
Poisson Surface Reconstruction for LiDAR Odometry and Mapping. ICRA 2021: 5624-5630 - [c21]Xieyuanli Chen, Ignacio Vizzo, Thomas Läbe, Jens Behley, Cyrill Stachniss:
Range Image-based LiDAR Localization for Autonomous Vehicles. ICRA 2021: 5802-5808 - [c20]Jens Behley, Andres Milioto, Cyrill Stachniss:
A Benchmark for LiDAR-based Panoptic Segmentation based on KITTI. ICRA 2021: 13596-13603 - [c19]Federico Magistri, Nived Chebrolu, Jens Behley, Cyrill Stachniss:
Towards In-Field Phenotyping Exploiting Differentiable Rendering with Self-Consistency Loss. ICRA 2021: 13960-13966 - [c18]Peter Rottmann, Thorbjörn Posewsky, Andres Milioto, Cyrill Stachniss, Jens Behley:
Improving Monocular Depth Estimation by Semantic Pre-training. IROS 2021: 5916-5923 - [i13]Mehmet Aygün, Aljosa Osep, Mark Weber, Maxim Maximov, Cyrill Stachniss, Jens Behley, Laura Leal-Taixé:
4D Panoptic LiDAR Segmentation. CoRR abs/2102.12472 (2021) - [i12]Xieyuanli Chen, Shijie Li, Benedikt Mersch, Louis Wiesmann, Jürgen Gall, Jens Behley, Cyrill Stachniss:
Moving Object Segmentation in 3D LiDAR Data: A Learning-based Approach Exploiting Sequential Data. CoRR abs/2105.08971 (2021) - [i11]Xieyuanli Chen, Andres Milioto, Emanuele Palazzolo, Philippe Giguère, Jens Behley, Cyrill Stachniss:
SuMa++: Efficient LiDAR-based Semantic SLAM. CoRR abs/2105.11320 (2021) - [i10]Xieyuanli Chen, Thomas Läbe, Andres Milioto, Timo Röhling, Olga Vysotska, Alexandre Haag, Jens Behley, Cyrill Stachniss:
OverlapNet: Loop Closing for LiDAR-based SLAM. CoRR abs/2105.11344 (2021) - [i9]Xieyuanli Chen, Thomas Läbe, Lorenzo Nardi, Jens Behley, Cyrill Stachniss:
Learning an Overlap-based Observation Model for 3D LiDAR Localization. CoRR abs/2105.11717 (2021) - [i8]Xieyuanli Chen, Ignacio Vizzo, Thomas Läbe, Jens Behley, Cyrill Stachniss:
Range Image-based LiDAR Localization for Autonomous Vehicles. CoRR abs/2105.12121 (2021) - [i7]Benedikt Mersch, Xieyuanli Chen, Jens Behley, Cyrill Stachniss:
Self-supervised Point Cloud Prediction Using 3D Spatio-temporal Convolutional Networks. CoRR abs/2110.04076 (2021) - 2020
- [j2]Philipp Lottes, Jens Behley, Nived Chebrolu, Andres Milioto, Cyrill Stachniss:
Robust joint stem detection and crop-weed classification using image sequences for plant-specific treatment in precision farming. J. Field Robotics 37(1): 20-34 (2020) - [c17]Xieyuanli Chen, Thomas Läbe, Lorenzo Nardi, Jens Behley, Cyrill Stachniss:
Learning an Overlap-based Observation Model for 3D LiDAR Localization. IROS 2020: 4602-4608 - [c16]Ferdinand Langer, Andres Milioto, Alexandre Haag, Jens Behley, Cyrill Stachniss:
Domain Transfer for Semantic Segmentation of LiDAR Data using Deep Neural Networks. IROS 2020: 8263-8270 - [c15]Andres Milioto, Jens Behley, Chris McCool, Cyrill Stachniss:
LiDAR Panoptic Segmentation for Autonomous Driving. IROS 2020: 8505-8512 - [c14]Xieyuanli Chen, Thomas Läbe, Andres Milioto, Timo Röhling, Olga Vysotska, Alexandre Haag, Jens Behley, Cyrill Stachniss:
OverlapNet: Loop Closing for LiDAR-based SLAM. Robotics: Science and Systems 2020 - [i6]Jens Behley, Andres Milioto, Cyrill Stachniss:
A Benchmark for LiDAR-based Panoptic Segmentation based on KITTI. CoRR abs/2003.02371 (2020) - [i5]Nived Chebrolu, Thomas Läbe, Olga Vysotska, Jens Behley, Cyrill Stachniss:
Adaptive Robust Kernels for Non-Linear Least Squares Problems. CoRR abs/2004.14938 (2020) - 2019
- [c13]Jens Behley, Martin Garbade, Andres Milioto, Jan Quenzel, Sven Behnke, Cyrill Stachniss, Jürgen Gall:
SemanticKITTI: A Dataset for Semantic Scene Understanding of LiDAR Sequences. ICCV 2019: 9296-9306 - [c11]Andres Milioto, Ignacio Vizzo, Jens Behley, Cyrill Stachniss:
RangeNet ++: Fast and Accurate LiDAR Semantic Segmentation. IROS 2019: 4213-4220 - [c10]Xieyuanli Chen, Andres Milioto, Emanuele Palazzolo, Philippe Giguère, Jens Behley, Cyrill Stachniss:
SuMa++: Efficient LiDAR-based Semantic SLAM. IROS 2019: 4530-4537 - [c9]Emanuele Palazzolo, Jens Behley, Philipp Lottes, Philippe Giguère, Cyrill Stachniss:
ReFusion: 3D Reconstruction in Dynamic Environments for RGB-D Cameras Exploiting Residuals. IROS 2019: 7855-7862 - [i4]Jens Behley, Martin Garbade, Andres Milioto, Jan Quenzel, Sven Behnke, Cyrill Stachniss, Juergen Gall:
A Dataset for Semantic Segmentation of Point Cloud Sequences. CoRR abs/1904.01416 (2019) - [i3]Emanuele Palazzolo, Jens Behley, Philipp Lottes, Philippe Giguère, Cyrill Stachniss:
ReFusion: 3D Reconstruction in Dynamic Environments for RGB-D Cameras Exploiting Residuals. CoRR abs/1905.02082 (2019) - 2018
- [j1]Philipp Lottes, Jens Behley, Andres Milioto, Cyrill Stachniss:
Fully Convolutional Networks With Sequential Information for Robust Crop and Weed Detection in Precision Farming. IEEE Robotics Autom. Lett. 3(4): 2870-2877 (2018) - [c8]Philipp Lottes, Jens Behley, Nived Chebrolu, Andres Milioto, Cyrill Stachniss:
Joint Stem Detection and Crop-Weed Classification for Plant-Specific Treatment in Precision Farming. IROS 2018: 8233-8238 - [c7]Jens Behley, Cyrill Stachniss:
Efficient Surfel-Based SLAM using 3D Laser Range Data in Urban Environments. Robotics: Science and Systems 2018 - [i2]Philipp Lottes, Jens Behley, Andres Milioto, Cyrill Stachniss:
Fully Convolutional Networks with Sequential Information for Robust Crop and Weed Detection in Precision Farming. CoRR abs/1806.03412 (2018) - [i1]Philipp Lottes, Jens Behley, Nived Chebrolu, Andres Milioto, Cyrill Stachniss:
Joint Stem Detection and Crop-Weed Classification for Plant-specific Treatment in Precision Farming. CoRR abs/1806.03413 (2018)
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