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ORCIDMargarita Chli
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- affiliation: ETH Zurich, Vision for Robotics Lab, Switzerland
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2020 – today
- 2025
[j23]Liudi Yang, Ruben Mascaro, Ignacio Alzugaray, Sai Manoj Prakhya, Marco Karrer, Ziyuan Liu, Margarita Chli:
LiDAR Loop Closure Detection using Semantic Graphs with Graph Attention Networks. J. Intell. Robotic Syst. 111(1): 13 (2025)- [i8]Liudi Yang, Ruben Mascaro, Ignacio Alzugaray, Sai Manoj Prakhya, Marco Karrer, Ziyuan Liu, Margarita Chli:
LiDAR Loop Closure Detection using Semantic Graphs with Graph Attention Networks. CoRR abs/2501.19382 (2025) - 2024
- [j22]Letizia Gionfrida
, Chen Wang, Lu Gan, Margarita Chli, Luca Carlone:
Computer and Robot Vision: Past, Present, and Future [TC Spotlight]. IEEE Robotics Autom. Mag. 31(3): 211-215 (2024) - [c56]David Hug, Ignacio Alzugaray, Margarita Chli:
Hyperion - A Fast, Versatile Symbolic Gaussian Belief Propagation Framework for Continuous-Time SLAM. ECCV (30) 2024: 215-231 - [c55]Chen Gao, Franz Daxinger, Lukas Roth, Fabiola Maffra, Paul Beardsley, Margarita Chli, Lucas Teixeira:
Aerial Image-based Inter-day Registration for Precision Agriculture. ICRA 2024: 11862-11868 - [c54]Han Wang, Ruben Mascaro, Margarita Chli, Lucas Teixeira:
Real-Time Semantic Segmentation in Natural Environments with SAM-assisted Sim-to-Real Domain Transfer. IROS 2024: 53-60 - [c53]Jiawei Zhou, Ruben Mascaro, Cesar Cadena, Margarita Chli, Lucas Teixeira:
Temporal- and Viewpoint-Invariant Registration for Under-Canopy Footage using Deep-Learning-based Bird's-Eye View Prediction. IROS 2024: 61-68 - [i7]David Hug, Ignacio Alzugaray, Margarita Chli:
Hyperion - A fast, versatile symbolic Gaussian Belief Propagation framework for Continuous-Time SLAM. CoRR abs/2407.07074 (2024) - 2023
- [j21]Luca Bartolomei, Lucas Teixeira, Margarita Chli:
Fast Multi-UAV Decentralized Exploration of Forests. IEEE Robotics Autom. Lett. 8(9): 5576-5583 (2023) - [j20]Ryan Luke Johns, Martin Wermelinger, Ruben Mascaro, Dominic Jud, Ilmar Hurkxkens, Lauren Vasey, Margarita Chli, Fabio Gramazio, Matthias Kohler, Marco Hutter:
A framework for robotic excavation and dry stone construction using on-site materials. Sci. Robotics 8(84) (2023) - [c52]Ruben Mascaro, Lucas Teixeira, Margarita Chli:
Domain-Adaptive Semantic Segmentation with Memory-Efficient Cross-Domain Transformers. BMVC 2023: 837-845 - [c51]Manthan Patel, Marco Karrer, Philipp Bänninger, Margarita Chli:
COVINS-G: A Generic Back-end for Collaborative Visual-Inertial SLAM. ICRA 2023: 2076-2082 - [c50]Philipp Bänninger, Ignacio Alzugaray, Marco Karrer, Margarita Chli:
Cross-Agent Relocalization for Decentralized Collaborative SLAM. ICRA 2023: 5551-5557 - [c49]Shane Kelly, Alessandro Riccardi, Elias Marks, Federico Magistri, Tiziano Guadagnino, Margarita Chli, Cyrill Stachniss:
Target-Aware Implicit Mapping for Agricultural Crop Inspection. ICRA 2023: 9608-9614 - [c48]Sean Bone, Luca Bartolomei, Florian Kennel-Maushart, Margarita Chli:
Decentralised Multi-Robot Exploration Using Monte Carlo Tree Search. IROS 2023: 7354-7361 - [d1]Ryan Luke Johns, Martin Wermelinger, Ruben Mascaro, Dominic Jud, Ilmar Hurkxkens, Lauren Vasey, Margarita Chli, Fabio Gramazio, Matthias Kohler, Marco Hutter:
Dataset for the paper "A framework for robotic excavation and dry stone construction using on-site materials". Zenodo, 2023
- [i6]Manthan Patel, Marco Karrer, Philipp Bänninger, Margarita Chli:
COVINS-G: A Generic Back-end for Collaborative Visual-Inertial SLAM. CoRR abs/2301.07147 (2023) - [i5]Luca Bartolomei, Lucas Teixeira, Margarita Chli:
Towards Multi-robot Exploration: A Decentralized Strategy for UAV Forest Exploration. CoRR abs/2301.08537 (2023) - 2022
- [j19]Ruben Mascaro, Lucas Teixeira, Margarita Chli:
Volumetric Instance-Level Semantic Mapping Via Multi-View 2D-to-3D Label Diffusion. IEEE Robotics Autom. Lett. 7(2): 3531-3538 (2022) - [j18]David Hug, Philipp Bänninger, Ignacio Alzugaray, Margarita Chli:
Continuous-Time Stereo-Inertial Odometry. IEEE Robotics Autom. Lett. 7(3): 6455-6462 (2022) - [j17]David Morilla-Cabello, Luca Bartolomei, Lucas Teixeira, Eduardo Montijano, Margarita Chli:
Sweep-Your-Map: Efficient Coverage Planning for Aerial Teams in Large-Scale Environments. IEEE Robotics Autom. Lett. 7(4): 10810-10817 (2022) - [c47]Luca Bartolomei, Yves Kompis, Lucas Teixeira, Margarita Chli:
Autonomous Emergency Landing for Multicopters using Deep Reinforcement Learning. IROS 2022: 3392-3399 - [c46]Yue Pan, Yves Kompis, Luca Bartolomei, Ruben Mascaro, Cyrill Stachniss, Margarita Chli:
Voxfield: Non-Projective Signed Distance Fields for Online Planning and 3D Reconstruction. IROS 2022: 5331-5338 - [c45]Matthias Hüppi, Luca Bartolomei, Ruben Mascaro, Margarita Chli:
T-PRM: Temporal Probabilistic Roadmap for Path Planning in Dynamic Environments. IROS 2022: 10320-10327 - 2021
- [j16]Ruben Mascaro, Martin Wermelinger, Marco Hutter, Margarita Chli:
Towards automating construction tasks: Large-scale object mapping, segmentation, and manipulation. J. Field Robotics 38(5): 684-699 (2021) - [j15]Florian Tschopp, Cornelius von Einem, Andrei Cramariuc, David Hug, Andrew William Palmer, Roland Siegwart, Margarita Chli, Juan I. Nieto:
Hough$^2$Map - Iterative Event-Based Hough Transform for High-Speed Railway Mapping. IEEE Robotics Autom. Lett. 6(2): 2745-2752 (2021) - [j14]Thomas Ziegler, Marco Karrer, Patrik Schmuck, Margarita Chli:
Distributed Formation Estimation Via Pairwise Distance Measurements. IEEE Robotics Autom. Lett. 6(2): 3017-3024 (2021) - [j13]Yves Kompis, Luca Bartolomei, Ruben Mascaro, Lucas Teixeira, Margarita Chli:
Informed Sampling Exploration Path Planner for 3D Reconstruction of Large Scenes. IEEE Robotics Autom. Lett. 6(4): 7894-7901 (2021) - [c44]Shiming Wang, Fabiola Maffra, Ruben Mascaro, Lucas Teixeira, Margarita Chli:
Viewpoint-Tolerant Semantic Segmentation for Aerial Logistics. GCPR 2021: 515-529 - [c43]Marco Karrer, Margarita Chli:
Distributed Variable-Baseline Stereo SLAM from two UAVs. ICRA 2021: 82-88 - [c42]Ruben Mascaro, Lucas Teixeira, Margarita Chli:
Diffuser: Multi-View 2D-to-3D Label Diffusion for Semantic Scene Segmentation. ICRA 2021: 13589-13595 - [c41]Luca Bartolomei, Lucas Teixeira, Margarita Chli:
Semantic-aware Active Perception for UAVs using Deep Reinforcement Learning. IROS 2021: 3101-3108 - [c40]Patrik Schmuck, Thomas Ziegler, Marco Karrer, Jonathan Perraudin, Margarita Chli:
COVINS: Visual-Inertial SLAM for Centralized Collaboration. ISMAR Adjunct 2021: 171-176 - [i4]Florian Tschopp, Cornelius von Einem, Andrei Cramariuc, David Hug, Andrew William Palmer, Roland Siegwart, Margarita Chli, Juan I. Nieto:
Hough2Map - Iterative Event-based Hough Transform for High-Speed Railway Mapping. CoRR abs/2102.08145 (2021) - [i3]Patrik Schmuck, Thomas Ziegler, Marco Karrer, Jonathan Perraudin, Margarita Chli:
COVINS: Visual-Inertial SLAM for Centralized Collaboration. CoRR abs/2108.05756 (2021) - 2020
- [j12]Lucas Teixeira, Martin R. Oswald, Marc Pollefeys, Margarita Chli:
Aerial Single-View Depth Completion With Image-Guided Uncertainty Estimation. IEEE Robotics Autom. Lett. 5(2): 1055-1062 (2020) - [c39]David Hug, Margarita Chli:
HyperSLAM: A Generic and Modular Approach to Sensor Fusion and Simultaneous Localization And Mapping in Continuous-Time. 3DV 2020: 978-986 - [c38]Ignacio Alzugaray, Margarita Chli:
HASTE: multi-Hypothesis Asynchronous Speeded-up Tracking of Events. BMVC 2020 - [c37]O. L. Barbed, Pablo Azagra, Lucas Teixeira, Margarita Chli, Javier Civera, Ana Cristina Murillo:
Fine grained pointing recognition for natural drone guidance. CVPR Workshops 2020: 4480-4488 - [c36]Luca Bartolomei, Marco Karrer, Margarita Chli:
Multi-robot Coordination with Agent-Server Architecture for Autonomous Navigation in Partially Unknown Environments. IROS 2020: 1516-1522 - [c35]Luca Bartolomei, Lucas Teixeira, Margarita Chli:
Perception-aware Path Planning for UAVs using Semantic Segmentation. IROS 2020: 5808-5815 - [i2]Marco Karrer, Margarita Chli:
Distributed Variable-Baseline Stereo SLAM from two UAVs. CoRR abs/2009.04801 (2020)
2010 – 2019
- 2019
- [j11]Patrik Schmuck, Margarita Chli:
CCM-SLAM: Robust and efficient centralized collaborative monocular simultaneous localization and mapping for robotic teams. J. Field Robotics 36(4): 763-781 (2019) - [j10]Fabiola Maffra, Lucas Teixeira, Zetao Chen, Margarita Chli:
Real-Time Wide-Baseline Place Recognition Using Depth Completion. IEEE Robotics Autom. Lett. 4(2): 1525-1532 (2019) - [c34]Ignacio Alzugaray, Margarita Chli:
Asynchronous Multi-Hypothesis Tracking of Features with Event Cameras. 3DV 2019: 269-278 - [c33]Patrik Schmuck, Margarita Chli:
On the Redundancy Detection in Keyframe-Based SLAM. 3DV 2019: 594-603 - [c32]Abel Gawel, Roland Siegwart, Marco Hutter, Timothy Sandy, Hermann Blum, Johannes Pankert, Koen Krämer, Luca Bartolomei, Selen Ercan, Farbod Farshidian, Margarita Chli, Fabio Gramazio:
A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction. IROS 2019: 2300-2307 - [i1]Abel Gawel, Hermann Blum, Johannes Pankert, Koen Krämer, Luca Bartolomei, Selen Ercan, Farbod Farshidian, Margarita Chli, Fabio Gramazio, Roland Siegwart, Marco Hutter, Timothy Sandy:
A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction. CoRR abs/1912.01870 (2019) - 2018
- [j9]Marko Bjelonic, Navinda Kottege, Timon Homberger, Paulo Vinicius Koerich Borges, Philipp Beckerle, Margarita Chli:
Weaver: Hexapod robot for autonomous navigation on unstructured terrain. J. Field Robotics 35(7): 1063-1079 (2018) - [j8]Marco Karrer, Patrik Schmuck, Margarita Chli:
CVI-SLAM - Collaborative Visual-Inertial SLAM. IEEE Robotics Autom. Lett. 3(4): 2762-2769 (2018) - [j7]Lucas Teixeira, Fabiola Maffra, Marco Moos, Margarita Chli:
VI-RPE: Visual-Inertial Relative Pose Estimation for Aerial Vehicles. IEEE Robotics Autom. Lett. 3(4): 2770-2777 (2018) - [j6]Ignacio Alzugaray, Margarita Chli:
Asynchronous Corner Detection and Tracking for Event Cameras in Real Time. IEEE Robotics Autom. Lett. 3(4): 3177-3184 (2018) - [j5]Zetao Chen, Lingqiao Liu, Inkyu Sa, Zongyuan Ge, Margarita Chli:
Learning Context Flexible Attention Model for Long-Term Visual Place Recognition. IEEE Robotics Autom. Lett. 3(4): 4015-4022 (2018) - [c31]Ignacio Alzugaray, Margarita Chli:
ACE: An Efficient Asynchronous Corner Tracker for Event Cameras. 3DV 2018: 653-661 - [c30]Michel Keller, Zetao Chen, Fabiola Maffra, Patrik Schmuck, Margarita Chli:
Learning Deep Descriptors With Scale-Aware Triplet Networks. CVPR 2018: 2762-2770 - [c29]Marco Karrer, Margarita Chli:
Towards Globally Consistent Visual-Inertial Collaborative SLAM. ICRA 2018: 1-8 - [c28]Ruben Mascaro, Lucas Teixeira, Timo Hinzmann, Roland Siegwart, Margarita Chli:
GOMSF: Graph-Optimization Based Multi-Sensor Fusion for robust UAV Pose estimation. ICRA 2018: 1421-1428 - [c27]Fabiola Maffra, Zetao Chen, Margarita Chli:
Viewpoint-Tolerant Place Recognition Combining 2D and 3D Information for UAV Navigation. ICRA 2018: 2542-2549 - [c26]Marco Karrer, Mohit Agarwal, Mina Kamel, Roland Siegwart, Margarita Chli:
Collaborative 6DoF Relative Pose Estimation for Two UAVs with Overlapping Fields of View. ICRA 2018: 6688-6693 - 2017
- [c25]Fabiola Maffra, Lucas Teixeira, Zetao Chen, Margarita Chli:
Loop-Closure Detection in Urban Scenes for Autonomous Robot Navigation. 3DV 2017: 356-364 - [c24]Lucas Teixeira, Ignacio Alzugaray, Margarita Chli:
Autonomous Aerial Inspection Using Visual-Inertial Robust Localization and Mapping. FSR 2017: 191-204 - [c23]Ignacio Alzugaray, Lucas Teixeira, Margarita Chli:
Short-term UAV path-planning with monocular-inertial SLAM in the loop. ICRA 2017: 2739-2746 - [c22]Lucas Teixeira, Margarita Chli:
Real-time local 3D reconstruction for aerial inspection using superpixel expansion. ICRA 2017: 4560-4567 - [c21]Marko Bjelonic, Timon Homberger, Navinda Kottege, Paulo V. K. Borges, Margarita Chli, Philipp Beckerle:
Autonomous navigation of hexapod robots with vision-based controller adaptation. ICRA 2017: 5561-5568 - [c20]Julian Surber, Lucas Teixeira, Margarita Chli:
Robust visual-inertial localization with weak GPS priors for repetitive UAV flights. ICRA 2017: 6300-6306 - [c19]Zetao Chen, Fabiola Maffra, Inkyu Sa, Margarita Chli:
Only look once, mining distinctive landmarks from ConvNet for visual place recognition. IROS 2017: 9-16 - 2016
- [c18]Marco Karrer, Mina Kamel, Roland Siegwart, Margarita Chli:
Real-time dense surface reconstruction for aerial manipulation. IROS 2016: 1601-1608 - [c17]Lucas Teixeira, Margarita Chli:
Real-time mesh-based scene estimation for aerial inspection. IROS 2016: 4863-4869 - 2015
- [c16]Elena Stumm, Christopher Mei, Simon Lacroix, Margarita Chli:
Location graphs for visual place recognition. ICRA 2015: 5475-5480 - 2014
- [j4]Markus W. Achtelik, Simon Lynen, Stephan Weiss, Margarita Chli, Roland Siegwart:
Motion- and Uncertainty-aware Path Planning for Micro Aerial Vehicles. J. Field Robotics 31(4): 676-698 (2014) - [j3]Davide Scaramuzza, Michael Achtelik, Lefteris Doitsidis, Friedrich Fraundorfer, Elias B. Kosmatopoulos, Agostino Martinelli, Markus W. Achtelik, Margarita Chli, Savvas A. Chatzichristofis, Laurent Kneip, Daniel Gurdan, Lionel Heng, Gim Hee Lee, Simon Lynen, Marc Pollefeys, Alessandro Renzaglia, Roland Siegwart, Jan Carsten Stumpf, Petri Tanskanen, Chiara Troiani, Stephan Weiss, Lorenz Meier:
Vision-Controlled Micro Flying Robots: From System Design to Autonomous Navigation and Mapping in GPS-Denied Environments. IEEE Robotics Autom. Mag. 21(3): 26-40 (2014) - [c15]Jan Portmann, Simon Lynen, Margarita Chli, Roland Siegwart:
People detection and tracking from aerial thermal views. ICRA 2014: 1794-1800 - 2013
- [j2]Stephan Weiss, Markus Achtelik, Simon Lynen, Michael Achtelik, Laurent Kneip, Margarita Chli, Roland Siegwart:
Monocular Vision for Long-term Micro Aerial Vehicle State Estimation: A Compendium. J. Field Robotics 30(5): 803-831 (2013) - [c14]Markus Achtelik, Stephan Weiss, Margarita Chli, Roland Siegwart:
Path planning for motion dependent state estimation on micro aerial vehicles. ICRA 2013: 3926-3932 - [c13]Markus W. Achtelik, Simon Lynen, Margarita Chli, Roland Siegwart:
Inversion based direct position control and trajectory following for micro aerial vehicles. IROS 2013: 2933-2939 - [c12]Simon Lynen, Markus W. Achtelik, Stephan Weiss, Margarita Chli, Roland Siegwart:
A robust and modular multi-sensor fusion approach applied to MAV navigation. IROS 2013: 3923-3929 - [c11]Stefan Leutenegger, Paul Timothy Furgale, Vincent Rabaud, Margarita Chli, Kurt Konolige, Roland Siegwart:
Keyframe-Based Visual-Inertial SLAM using Nonlinear Optimization. Robotics: Science and Systems 2013 - 2012
- [c10]Stephan Weiss, Markus Achtelik, Margarita Chli, Roland Siegwart:
Versatile distributed pose estimation and sensor self-calibration for an autonomous MAV. ICRA 2012: 31-38 - [c9]Stephan Weiss, Markus Achtelik, Simon Lynen, Margarita Chli, Roland Siegwart:
Real-time onboard visual-inertial state estimation and self-calibration of MAVs in unknown environments. ICRA 2012: 957-964 - [c8]Markus Achtelik, Michael Achtelik, Yorick Brunet, Margarita Chli, Savvas A. Chatzichristofis, Jean-Dominique Decotignie, Klaus-Michael Doth, Friedrich Fraundorfer, Laurent Kneip, Daniel Gurdan, Lionel Heng, Elias B. Kosmatopoulos, Lefteris Doitsidis, Gim Hee Lee, Simon Lynen, Agostino Martinelli, Lorenz Meier, Marc Pollefeys, Damien Piguet, Alessandro Renzaglia, Davide Scaramuzza, Roland Siegwart, Jan Stumpf, Petri Tanskanen, Chiara Troiani, Stephan Weiss:
SFly: Swarm of micro flying robots. IROS 2012: 2649-2650 - [c7]Markus Achtelik, Simon Lynen, Stephan Weiss, Laurent Kneip, Margarita Chli, Roland Siegwart:
Visual-inertial SLAM for a small helicopter in large outdoor environments. IROS 2012: 2651-2652 - 2011
- [c6]Laurent Kneip, Margarita Chli, Roland Siegwart:
Robust Real-Time Visual Odometry with a Single Camera and an IMU. BMVC 2011: 1-11 - [c5]Stefan Leutenegger, Margarita Chli, Roland Siegwart:
BRISK: Binary Robust invariant scalable keypoints. ICCV 2011: 2548-2555 - [c4]Markus Achtelik, Stephan Weiss, Margarita Chli, Frank Dellaert, Roland Siegwart:
Collaborative stereo. IROS 2011: 2242-2248 - 2010
- [c3]Ankur Handa, Margarita Chli, Hauke Strasdat, Andrew J. Davison:
Scalable active matching. CVPR 2010: 1546-1553
2000 – 2009
- 2009
- [j1]Margarita Chli, Andrew J. Davison:
Active matching for visual tracking. Robotics Auton. Syst. 57(12): 1173-1187 (2009) - [c2]Margarita Chli, Andrew J. Davison:
Automatically and efficiently inferring the hierarchical structure of visual maps. ICRA 2009: 387-394 - 2008
- [c1]Margarita Chli, Andrew J. Davison:
Active Matching. ECCV (1) 2008: 72-85
Coauthor Index
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