Publications

Christian Brommer, Alessandro Fornasier, Martin Scheiber, Jeff Delaune, Roland Brockers, Jan Steinbrener, Stephan Michael Weiss: The INSANE dataset: Large number of sensors for challenging UAV flights in Mars analog, outdoor, and out-/indoor transition scenarios. The International Journal of Robotics Research, SAGE Journals, 2024, S. 1 - 31.

Martin Scheiber, Alessandro Fornasier, Christian Brommer, Stephan Michael Weiss: Revisiting multi-GNSS Navigation for UAVs - An Equivariant Filtering Approach. 2023 21st International Conference on Advanced Robotics (ICAR), IEEE, Piscataway (NJ), 2024, S. 134 - 141.

Giulio Delama, Farhad Shamsfakhr, Stephan Michael Weiss, Daniele Fontanelli, Alessandro Fornasier: UVIO: An UWB-Aided Visual-Inertial Odometry Framework with Bias-Compensated Anchors Initialization. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Piscataway (NJ), 2023,

Alessandro Fornasier, Pieter van Goor, Eren Allak, Robert Mahony, Stephan Michael Weiss: MSCEqF: A Multi State Constraint Equivariant Filter for Vision-Aided Inertial Navigation. IEEE Robotics and Automation Letters, IEEE, 9, Piscataway (NJ), 2023, S. 731 - 738.

Visar Arapi, Alexander Hardt-Stremayr, Stephan Michael Weiss, Jan Steinbrener: Bridging the simulation-to-real gap for AI-based needle and target detection in robot-assisted ultrasound-guided interventions. Springer Nature, 2023,

Jan Steinbrener, Vesna Dimitrievska, Federico Pittino, Frans Starmans, Roland Waldner, Jürgen Holzbauer, Thomas Arnold: Learning metric volume estimation of fruits and vegetables from short monocular video sequences. Heliyon, Cell Press, 9, 2023, S. e14722 - e14722.

Thomas Georg Jantos, Christian Brommer, Eren Allak, Stephan Michael Weiss, Jan Steinbrener: AI-Based Multi-Object Relative State Estimation with Self-Calibration Capabilities. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2023), 2023,

Rohit Sudhakar Dhakate, Christian Brommer, Christoph Böhm, Harald Gietler, Stephan Michael Weiss, Jan Steinbrener: Autonomous Control Of Redundant Hydraulic Manipulator using Reinforcement Learning with Action Feedback. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Piscataway (NJ), 2022,

Roland Jung, Stephan Michael Weiss: Scalable and Modular Ultra-Wideband Aided Inertial Navigation,. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Piscataway (NJ), 2022,

Jan Kazimierz Michalczyk, Roland Jung, Stephan Michael Weiss: Tightly-Coupled EKF-Based Radar-Inertial Odometry. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Piscataway (NJ), 2022,

Varaha Satya Bharath Kurukuru, Mohammed Ali Khan, Rupam Singh: Electric Vehicle Charging/Discharging Models for Estimation of Load Profile in Grid Environments. Electric Power Components and Systems, Taylor & Francis, 2022, S. 1 - 17.

Thomas Georg Jantos, Mohamed Amin Hamdad, Wolfgang Granig, Stephan Michael Weiss, Jan Steinbrener: PoET: Pose Estimation Transformer for Single-View, Multi-Object 6D Pose Estimation. Proceedings of Machine Learning Research, 2022,

Christian Brommer, Alessandro Fornasier, Martin Scheiber, Jeff Delaune, Roland Brockers, Jan Steinbrener, Stephan Michael Weiss: INSANE: Cross-domain UAV data sets with increased number of sensors for developing advanced and novel estimators. arxiv.org, arXiv.org, Ithaca, NY, 2022,

Martin Scheiber, Alexandre Cardaillac, Christian Brommer, Stephan Michael Weiss, Martin Ludvigsen: Modular Multi-Sensor Fusion for Underwater Localization for Autonomous ROV Operations. OCEANS 2022 - New Hamptons, IEEE, Piscataway (NJ), 2022,

Eren Allak, Axel Barrau, Roland Jung, Jan Steinbrener, Stephan Michael Weiss: Centralized-Equivalent Pairwise Estimation with Asynchronous Communication Constraints for two Robots. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Piscataway (NJ), 2022, S. 8544 - 8551.

Eren Allak, Rooholla Khorrambakht, Christian Brommer, Stephan Weiss: Kinematics-Inertial Fusion for Localization of a 4-Cable Underactuated Suspended Robot Considering Cable Sag. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Piscataway (NJ), 2022, S. 4989 - 4996.

Alessandro Fornasier, Yonhon Ng, Christian Brommer, Christoph Böhm, Robert Mahony, Stephan Michael Weiss: Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation With Online Calibration. IEEE Robotics and Automation Letters , IEEE, 7, Piscataway (NJ), 2022, S. 12118 - 12125.

Harald Gietler, Christoph Böhm, Stefan Ainetter, Christian Schöffmann, Friedrich Fraundorfer, Stephan Michael Weiss, Hubert Zangl: Forestry Crane Automation using Learning-based Visual Grasping Point Prediction. 2022 IEEE Sensors Applications Symposium (SAS), IEEE, Piscataway (NJ), 2022, S. 1 - 6.

Martin Scheiber, Alessandro Fornasier, Roland Jung, Christoph Böhm, Rohit Sudhakar Dhakate, Christian Stewart, Jan Steinbrener, Stephan Michael Weiss, Christian Brommer: CNS Flight Stack for Reproducible, Customizable, and Fully Autonomous Applications. IEEE Robotics and Automation Letters, IEEE, 7, Piscataway (NJ), 2022, S. 11283 - 11290.

Hikmet Beyoglu, Stephan Michael Weiss, Bernhard Rinner: Multi-Agent Path Planning and Trajectory Generation for Confined Environments. Proceedings of the 2022 International Conference on Unmanned Aircraft Systems (ICUAS), IEEE, Piscataway (NJ), 2022, S. 655 - 663.

Jan Kazimierz Michalczyk, Christian Schöffmann, Alessandro Fornasier, Jan Steinbrener, Stephan Michael Weiss: Radar-Inertial State-Estimation for UAV Motion in Highly Agile Manoeuvres. Proceedings of the 2022 International Conference on Unmanned Aircraft Systems (ICUAS), IEEE, Piscataway (NJ), 2022,

Jan Steinbrener, Christian Brommer, Thomas Georg Jantos, Alessandro Fornasier, Stephan Michael Weiss: Improved State Propagation through AI-based Pre-processing andDown-sampling of High-Speed Inertial Data. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2022) , 2022,

Alessandro Fornasier, Yonhon Ng, Robert Mahony, Stephan Michael Weiss: Equivariant Filter Design for Inertial Navigation Systems with Input Measurement Biases. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2022) , 2022, S. 4333 - 4339.

Christoph Böhm, Pascal Brault, Quentin Delamare, Paolo Giordano, Stephan Michael Weiss: COP: Control & Observability-aware Planning. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2022) , 2022,

Rupam Singh, Bharat Bhushan: Reinforcement Learning-Based Model-Free Controller for Feedback Stabilization of Robotic Systems. IEEE Transactions on Neural Networks and Learning Systems, IEEE, Piscataway (NJ), 2022, S. 1 - 15.

Javier Gibran Apud Baca, Thomas Georg Jantos, Mario Theuermann, Mohamed Amin Hamdad, Jan Steinbrener, Stephan Michael Weiss, Alexander Almer, Roland Perko: Automated Data Annotation for 6-DoF AI-Based Navigation Algorithm Development. Journal of Imaging, MDPI, 7, Basel, 2021, S. 1 - 17.

Bryan Starbuck, Alessandro Fornasier, Stephan Michael Weiss, Cédric Pradalier: Consistent State Estimation on Manifolds for Autonomous Metal Structure Inspection. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2021), IEEE, Piscataway (NJ), 2021,

Martin Scheiber, Jeff Delaune, Stephan Michael Weiss, Roland Brockers: Mid-Air Range-Visual-Inertial Estimator Initialization for Micro Air Vehicles. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2021), IEEE, Piscataway (NJ), 2021, S. 7613 - 7619.

Roland Jung, Stephan Michael Weiss: Scalable Recursive Distributed Collaborative State Estimation for Aided Inertial Navigation. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2021), IEEE, Piscataway (NJ), 2021, S. 1896 - 1902.

Alessandro Fornasier, Martin Scheiber, Alexander Hardt-Stremayr, Roland Jung, Stephan Michael Weiss: VINSEval: Evaluation Framework for Unified Testing of Consistency and Robustness of Visual-Inertial Navigation System Algorithms. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2021), IEEE, Piscataway (NJ), 2021, S. 13754 - 13760.

Christoph Böhm, Christian Brommer, Alexander Hardt-Stremayr, Stephan Michael Weiss: Combined System Identification and State Estimation for a Quadrotor UAV. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2021), IEEE, Piscataway (NJ), 2021, S. 585 - 591.

Christoph Böhm, Martin Scheiber, Stephan Michael Weiss: Filter-Based Online System-Parameter Estimation for Multicopter UAVs. Robotics: Science and Systems (RSS) 2021, Robotics Science and Systems Foundation , http://www.roboticsfoundation.org/, 2021,

Roland Jung, Stephan Michael Weiss: Modular Multi-Sensor Fusion: A Collaborative State Estimation Perspective. IEEE Robotics and Automation Letters, IEEE, 6, Piscataway (NJ), 2021, S. 6891 - 6898.

Visar Arapi, Cosimo Della Santina, Giuseppe Averta, Antonio Bicchi, Matteo Bianchi: Understanding Human Manipulation With the Environment: A Novel Taxonomy for Video Labelling. IEEE Robotics and Automation Letters, IEEE, Piscataway (NJ), 2021,

Roland Jung, Stephan Michael Weiss: Distributed Collaborative State Estimation: Joint Observations forReliable Autonomous Navigation in Swarms. Proceedings of the Austrian Robotics Workshop, Verlag der Technischen Universität Graz, Graz, 2021, S. 64 - 68.

Paul Ladinig, Bernhard Rinner, Stephan Michael Weiss: Time and Energy Optimized Trajectory Generation for Multi-Agent Constellation Changes. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2021), IEEE, Piscataway (NJ), 2021, S. 7400 - 7406.

Rupam Singh, Bharat Bhushan: Evolving Intelligent System for Trajectory Tracking of Unmanned Aerial Vehicles. 2021, S. 1 - 14.

Christian Schöffmann, Barnaba Ubezio, Christoph Böhm, Stephan Muhlbacher-Karrer, Hubert Zangl: Virtual Radar: Real-Time Millimeter-Wave Radar Sensor Simulation for Perception-driven Robotics. IEEE Robotics and Automation Letters , IEEE, 6, Piscataway (NJ), 2021, S. 1 - 1.

Samira Hayat, Roland Jung, Hermann Hellwagner, Christian Bettstetter, Driton Emini, Dominik Schnieders: Edge Computing in 5G for Drone Navigation: What to Offload?. IEEE Robotics and Automation Letters, IEEE, 6, Piscataway (NJ), 2021, S. 2571 - 2578.

Bernhard Rinner, Christian Bettstetter, Hermann Hellwagner, Stephan Michael Weiss: Multidrone Systems: More Than the Sum of the Parts. Computer, IEEE Computer Society Press, 54, Los Alamitos (CA), 2021, S. 34 - 43.

Eren Allak, Alessandro Fornasier, Stephan Michael Weiss: Consistent Covariance Pre-Integration for Invariant Filters with Delayed Measurements. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Piscataway (NJ), 2020, S. 1 - 1.

Christian Brommer, Roland Jung, Jan Steinbrener, Stephan Michael Weiss: MaRS: A Modular and Robust Sensor-Fusion Framework. IEEE Robotics and Automation Letters , IEEE, Piscataway (NJ), 2020,

Jan Steinbrener, Konstantin Posch, Jürgen Pilz: Measuring the Uncertainty of Predictions in Deep Neural Networks with Variational Inference. Sensors, MDPI Publishing, Basel, 2020,

Roland Jung, Christian Brommer, Stephan Michael Weiss: Decentralized Collaborative State Estimation for Aided Inertial Navigation. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2020) , IEEE, Piscataway (NJ), 2020, S. 4673 - 4679.

Christian Brommer, Alessandro Fornasier, Stefanie Garnitschnig, Gernot Grömer, Sophie Gruber, Paolo Guardabasso, Richard Halatschek, Vittorio Netti, Keerthi Ramanna, Gerald Steinbauer, Stephan Michael Weiss: AMADEE-20 Exploration Cascade using Robotic Vehicles. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Piscataway (NJ), 2020, S. 1 - 3.

Christian Brommer, Christoph Böhm, Jan Steinbrener, Roland Brockers, Stephan Michael Weiss: Improved State Estimation in Distorted Magnetic Fields. Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS), IEEE, Athens, 2020, IEEE, Piscataway (NJ), 2020, S. 1007 - 1013.

Christoph Böhm, Guanrui Li, Giuseppe Loianno, Stephan Michael Weiss: Observabilty-Aware Trajectories for Geometric and Inertial Self-Calibration. Power On and Go Robots, 2020,

Alexander Hardt-Stremayr, Stephan Michael Weiss: Monocular Visual-Inertial Odometry in Low-Textured Environments with Smooth Gradients: A Fully Dense Direct Filtering Approach. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2020) , IEEE, Piscataway (NJ), 2020, S. 1 - 1.

Harald Gietler, Christoph Böhm, Tobias Mitterer, Lisa-Marie Faller, Stephan Michael Weiss, Hubert Zangl: 4-DOF Magnetic Field Based Localization for UAV Navigation. Proceedings of the 2018 International Symposium on Experimental Robotics, Springer International Publishing AG, 11, Cham, 2020, S. 222 - 231.

Raheeb Muzaffar, Alexander Hardt-Stremayr, Samira Hayat, Arke Vogell, Evsen Yanmaz: Autonomous Drone Navigator for 3D Reconstruction of Forests. Challenges in Vision-based Drones Navigation, 2019,

Martin Scheiber, Jeff Delaune, Roland Brockers, Stephan Michael Weiss: Visual-Inertial On-Board Throw-and-Go Initialization for Micro Air Vehicles. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Piscataway (NJ), 2019, S. 6899 - 6905.

Eren Allak, Roland Jung, Stephan Michael Weiss: Covariance Pre-Integration for Delayed Measurements in Multi-Sensor Fusion. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Piscataway (NJ), 2019, S. 1 - 1.

Jan Steinbrener, Pratik Desai: Comparison of Deep Learning Architectures on Embedded Devices and Generalized Fixed-point Conversion Algorithm. 2019 5th Experiment International Conference (exp.at'19), IEEE, Piscataway (NJ), 2019, S. 343 - 347.

Alexander Hardt-Stremayr, Stephan Michael Weiss: Towards Fully Dense Direct Filter-Based Monocular Visual-Inertial Odometry. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2019), IEEE, Piscataway (NJ), 2019, S. 4710 - 4716.

Jan Steinbrener, Konstantin Posch, Raimund Leitner: Hyperspectral fruit and vegetable classification using convolutional neural networks. Computers and Electronics in Agriculture, Elsevier B.V., 162, Amsterdam, 2019, S. 364 - 372.

Alexander Hardt-Stremayr, Stephan Michael Weiss: Navigation for UAVs. Encyclopedia of Robotics, Springer Berlin Heidelberg, 2019, S. 1 - 11.

Danylo Malyuta, Christian Brommer, Daniel Hentzen, Thomas Stastny, Roland Siegwart, Roland Brockers: Long-Duration Fully Autonomous Operation of Rotorcraft UAS for Remote-Sensing Data Acquisition. Journal of Field Robotics, John Wiley & Sons Inc., Hoboken (NJ), 2019,

Eren Allak, Alexander Hardt-Stremayr, Stephan Michael Weiss: Key-Frame Strategy During Fast Image-Scale Changes and Zero Motion in VIO Without Persistent Features. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Piscataway (NJ), 2018, S. 6872 - 6879.

Christian Brommer, Danylo Malyuta, Daniel Hentzen, Roland Brockers: Long-Duration Autonomy for Small Rotorcraft UAS Including Recharging. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Piscataway (NJ), 2018, S. 7252 - 7258.

Alexander Hardt-Stremayr, Matthias Schörghuber, Stephan Michael Weiss, Martin Humenberger: Metrics for Real-Time Mono-VSLAM Evaluation Including IMU Induced Drift with Application to UAV Flight. ECCV 2018 Workshops, Springer Nature, 11130, Berlin und London, 2018, S. 1 - 15.

James Preiss, Karol Hausman, Gaurav Sukhatme, Stephan Michael Weiss: Simultaneous self-calibration and navigation using trajectory optimization. The International Journal of Robotics Research, SAGE Journals, 2018,

Hannes Sommer, Igor Gilitschenski, Michael Blösch, Stephan Michael Weiss, Roland Siegwart, Juan Nieto: Why and How to Avoid the Flipped Quaternion Multiplication. Aerospace, MDPI AG, 5, Basel, 2018, S. 1 - 15.

Karol Hausman, James Preiss, Gaurav Sukhatme, Stephan Michael Weiss: Observability-Aware Trajectory Optimization for Self-Calibration with Application to UAVs. IEEE Robotics and Automation Letters, IEEE, 2, Piscataway (NJ), 2017, S. 1770 - 1777.

James Preiss, Karol Hausman, Gaurav Sukhatme, Stephan Michael Weiss: Trajectory Optimization for Self-Calibration and Navigation. Robotics: Science and Systems, Robotics Science and Systems Foundation , http://www.roboticsfoundation.org/, 2017,

Karol Hausman, Stephan Michael Weiss, Roland Brockers, Larry Mathies: Self-Calibrating Multi-Sensor Fusion with Probabilistic Measurement Validation for Seamless Sensor Switching on a UAV. IEEE International Conference on Robotics & Automation (ICRA), IEEE, Piscataway (NJ), 2016, S. 4289 - 4296.

Daniel Donavanik, Alexander Hardt-Stremayr, Gregory Gremillion, Stephan Michael Weiss, William Nothwang: Multi-sensor fusion techniques for state estimation of micro air vehicles. SPIE Defense and Commercial Sensing, SPIE, 9836, San Jose (CA), 2016, S. 98361U - 98361U.

Ryan Kennedy, Roland Brockers, Stephan Michael Weiss: Fail-safe visual-inertial navigation for UAVs. SPIE Defense and Commercial Sensing, SPIE, 9836, San Jose (CA), 2016, S. 98361U - 98361U.

Stephan Michael Weiss: Kleiner Heli geht auf große Reise. Kleine Zeitung, Mediaprint Zeitungs- und Zeitschriftenverlag GmbH & Co KG, Wien, 2015,

Stephan Michael Weiss: Packen eine Ladung Hirn drauf. Die Presse, Die Presse - Verlagsgesellschaft m.b.H. & Co KG, Wien, 2015,

Eren Allak, Christian Brommer, Stephan Michael Weiss: AMADEE-18: Vision-Based Unmanned Aerial Vehicle Navigation for Analog Mars Mission (AVI-NAV). Astrobiology, Mary Ann Liebert, Inc., New Rochelle, 2020, S. 1321 - 1337.