ETH Zurich


The Autonomous Systems Lab (ETH-ASL), from the Eidgenössische Technische Hochschule Zürich (ETHZ), is an internationally renowned research unit in the field of autonomous robot design and navigation. Its field of competence spans from flying micro-helicopters all the way up to space rovers, service robots and semi-autonomous cars. ETHZ – ASL is one of the largest and most renowned robotics labs in Europe. It consists of around 35 researchers and application engineers and is involved in various national, European and ESA projects. http://www.asl.ethz.ch/

 


Roland Siegwart – Coordinator

Roland Siegwart is a full professor for Autonomous Systems and Vice President Research and Corporate Relations at ETH Zurich since 2006 and 2010 respectively. He has a Master in Mechanical Engineering (1983) and a PhD in Mechatronics (1989) from ETH Zurich. In 1989/90 he spent one year as postdoctoral fellow at Stanford University. After that he worked part time as R&D director of MECOS Traxler AG and lecturer at the Institute of Robotics, ETH Zürich. From 1996 to 2006 he was associate and later full professor for Autonomous Microsystems and Robots at the Ecole Polytechnique Fédérale de Lausanne (EPFL). Roland Siegwart is member of the Swiss Academy of Engineering Sciences, IEEE Fellow and officer of the International Federation of Robotics Research (IFRR). He served as Vice President for Technical Activities (2004/05) and was awarded Distinguished Lecturer (2006/07) and is currently an AdCom Member (2007-2011) of the IEEE Robotics and Automation Society. He leads a research group of around 30 people working in the fields of robotics, mechatronics and product design. Roland Siegwart was a general chair of several conferences in robotics including IROS 2002, AIM 2007, FSR 2007, ISRR 2009 and is a co-founder of multiple successful spin-off companies in robotics.

email: rsiegwart@ethz.ch
web: http://www.asl.ethz.ch/people/rolandsi

Regina Notz – Project Manager

Regina Notz holds a PhD in Natural Sciences and has participated in FP5 and FP6 projects as a researcher herself. A prolonged stay as a team leader at the Unilever Food & Health Research Institute in the Netherlands gave her thorough insight into industrial research and project management. Regina is now a research manager at EU GrantsAccess, the office for international research programs of ETH and University of Zurich and a member of the V-Charge management team.

email: regina.notz@sl.ethz.ch

Ulrich Schwesinger – Scientific Manager

Ulrich Schwesinger completed his studies of Electrical Engineering and Information Technology at the Karlsruher Institute of Technology (KIT) in May, 2010. During his studies he focussed on signal processing, navigation and control. In October 2010, he joined the Autonomous Systems Lab (ETH Zurich). He is now a PhD candidate, focussing on on motion planning and collision avoidance. Since 2015, he is is the scientific project manager of the European Project V-Charge.

email: ulrich.schwesinger@mavt.ethz.ch
web: http://www.asl.ethz.ch/people/sculrich

 

 


Publications

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Summary maps for lifelong visual localization

Peter Muehlfellner, Mathias Buerki, Michael Bosse, Wojciech Derendarz, Roland Philippsen and Paul Furgale Journal of Field Robotics Robots that use vision for localization need to handle environments which are subject to seasonal and structural change, and operate under changing lighting and weather conditions. We present a framework for lifelong localization and mapping designed to provide
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Integrating Metric and Semantic Maps for Vision-Only Automated Parking

H. Grimmett, M. Buerki, L. Paz, P. Piniés, P. Furgale, I. Posner, and P. Newman CONFERENCE We present a framework for integrating two layers of map which are often required for fully automated operation: metric and semantic. Metric maps are likely to improve with subsequent visitations to the same place, while semantic maps can comprise
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Vision-Only Fully Automated Driving in Dynamic Mixed-Traffic Scenarios

U. Schwesinger, P. Versari, A. Broggi and R. Siegwart it – Information Technology, 2015 In this work an overview of the motion planning and dynamic perception framework within the V-Charge project is presented. This framework enables the V-Charge car to autonomously navigate in dynamic mixed-traffic scenarios. Other traffic participants are detected, classified and tracked from
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Fast Collision Detection Through Bounding Volume Hierarchies in Workspace-Time Space for Sampling-Based Motion Planners

U. Schwesinger, P. Furgale, and R. Siegwart IEEE International Conference on Intelligent Robots and Systems (ICRA), 2015 This paper presents a fast collision-detection method for sampling-based motion planners based on bounding volume hierarchies in workspace-time space. By introducing time as an additional dimension to the robot’s workspace, the method is able to quickly evaluate time-indexed
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There and Back Again

P. Furgale, P. Krüsi, F. Pomerleau, U. Schwesinger, F. Colas, and R. Siegwart IEEE International Conference on Intelligent Robots and Systems (ICRA), 2014 Topological/metric route following, also called teach and repeat (T&R), enables long-range autonomous navigation even without globally consistent localization. This ren- ders T&R ideal for applications where a global positioning system may not
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Unified Temporal and Spatial Calibration for Multi-Sensor Systems

Paul Furgale, Joern Rehder and Roland Siegwart IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) In order to increase accuracy and robustness in state estimation for robotics, a growing number of applications rely on data from multiple complementary sensors. For the best performance in sensor fusion, these different sensors must be spatially and temporally
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OpenGV: A Unified and Generalized Approach to Real-Time Calibrated Geometric Vision

Laurent Kneip and Paul Timothy Furgale IEEE International Conference on Robotics and Automation (ICRA) 2014 OpenGV is a new C++ library for calibrated real- time 3D geometric vision. It unifies both central and non-central absolute and relative camera pose computation algorithms within a single library. Each problem type comes with minimal and non-minimal closed-form solvers,
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Associating Uncertainty with Three-Dimensional Poses for use in Estimation Problems

Barfoot, Furgale Robotics, IEEE Transactions on, 30(3), pp. 679-693 In this paper, we provide specific and practical approaches to associate uncertainty with 4 ?? 4 transformation matrices, which is a common representation for pose variables in 3-D space. We show constraint-sensitive means of perturbing transformation matrices using their associated exponential-map generators and demonstrate these tools
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Infrastructure-Based Calibration of a Multi-Camera Rig

Lionel Heng, Mathias Buerki, Gim Hee Lee, Paul Furgale, Roland Siegwart, and Marc Pollefeys 2014 IEEE International Conference on Robotics and Automation (ICRA) The online recalibration of multi-sensor systems is a fundamental problem that must be solved before complex automated systems are deployed in situations such as automated driving. In such situations, accurate knowledge of
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Evaluation of Fisheye-Camera Based Visual Multi-Session Localization in a Real-World Scenario

Peter Muehlfellner, Paul Furgale, Wojciech Derendarz, Roland Philippsen IEEE Intelligent Vehicles Symposium (IVS) 2013 The European V-Charge project seeks to develop fully automated valet parking and charging of electric vehicles using only low-cost sensors. One of the challenges is to implement robust visual localization using only cameras and stock vehicle sensors. We integratedfour monocular, wide-angle,
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