Repository for Publications and Research Data

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ETH Zurich joins the SciPost publication portal

Independent publishing: SciPost gives ETH Zurich researchers an additional way of publishing their research results as open-access articles without relying on commercial providers. Read more

Research Collection statistics in a new format and design

We have made some changes to the current Research Collection statistics. The infographic has a new, slimmer design and the statistics themselves will be published quarterly from now on. In the future, we will also be more flexible in selecting the types of publication presented. Read more

4,800 articles now freely accessible in the Research Collection

Articles by ETH authors freely available on the ETH publication platform. Read more

  

Recently Added 

  1. Flexible Trinocular: Non-rigid Multi-Camera-IMU Dense Reconstruction for UAV Navigation and Mapping 

    Hinzmann, Tinto; Cadena, Cesar; Nieto, Juan; et al. (2019)
    2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
    In this paper, we propose a visual-inertial framework able to efficiently estimate the camera poses of a non-rigid trinocular baseline for long-range depth estimation on-board a fast moving aerial platform. The estimation of the time-varying baseline is based on relative inertial measurements, a photometric relative pose optimizer, and a probabilistic wing model fused in an efficient Extended Kalman Filter (EKF) formulation. The estimated ...
    Conference Paper

  2. Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation 

    Sleiman, Jean-Pierre; Carius, Jan; Grandia, Ruben; et al. (2019)
    2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
    We present a reformulation of a contact-implicit optimization (CIO) approach that computes optimal trajectories for rigid-body systems in contact-rich settings. A hard-contact model is assumed, and the unilateral constraints are imposed in the form of complementarity conditions. Newton's impact law is adopted for enhanced physical correctness. The optimal control problem is formulated as a multi-staged program through a multiple-shooting ...
    Conference Paper

  3. Angle of Arrival Estimation based on Channel Impulse Response Measurements 

    Ledergerber, Anton; Hamer, Michael; D'Andrea, Raffaello (2019)
    2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
    In recent years, ultra-wideband radio technology has become increasingly popular as a space- and cost-effective solution to the problem of indoor localization. This paper demonstrates how measurements of the channel impulse response can be used to estimate a signal's angle of arrival at a receiving antenna. This novel method requires no additional hardware, uses only a single antenna, and works with unsynchronized clocks and one-way ...
    Conference Paper

  4. Free-Space Features: Global Localization in 2D Laser SLAM Using Distance Function Maps 

    Millane, Alexander; Oleynikova, Helen; Nieto, Juan; et al. (2019)
    2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
    In many applications, maintaining a consistent map of the environment is key to enabling robotic platforms to perform higher-level decision making. Detection of already visited locations is one of the primary ways in which map consistency is maintained, especially in situations where external positioning systems are unavailable or unreliable. Mapping in 2D is an important field in robotics, largely due to the fact that man-made environments ...
    Conference Paper

  5. Transfer learning for vision-based tactile sensing 

    Sferrazza, Carmelo; D'Andrea, Raffaello (2019)
    2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
    Due to the complexity of modeling the elastic properties of materials, the use of machine learning algorithms is continuously increasing for tactile sensing applications. Recent advances in deep neural networks applied to computer vision make vision-based tactile sensors very appealing for their high-resolution and low cost. A soft optical tactile sensor that is scalable to large surfaces with arbitrary shape is discussed in this paper. ...
    Conference Paper

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