Dissertation

Lionel Heng, Toward Full Autonomy for Vision-Guided Robots: From Self-Calibration to Self-Directed Exploration, Dec 2014. Examiners: Prof. Marc Pollefeys, Prof. Roland Siegwart, and Prof. Wolfram Burgard. [Paper]

Journal Publications

Lionel Heng, Gim Hee Lee, and Marc Pollefeys, Self-Calibration and Visual SLAM with a Multi-Camera System on a Micro Aerial Vehicle, Autonomous Robots (AURO), 39(3):259-277, 2015. [Preprint]

Lionel Heng, Paul Furgale, and Marc Pollefeys, Leveraging Image-based Localization for Infrastructure-based Calibration of a Multi-camera Rig, Journal of Field Robotics (JFR), 32(5):775-802, 2015. [Preprint]

D. Scaramuzza, M.C. Achtelik, L. Doitsidis, F. Fraundorfer, E.B. Kosmatopoulos, A. Martinelli, M.W. Achtelik, M. Chli, S.A. Chatzichristofis, L. Kneip, D. Gurdan, L. Heng, G.H. Lee, S. Lynen, L. Meier, M. Pollefeys, A. Renzaglia, R. Siegwart, J.C. Stumpf, P. Tanskanen, C. Troiani, and S. Weiss, Vision-Controlled Micro Flying Robots: from System Design to Autonomous Navigation and Mapping in GPS-Denied Environments, IEEE Robotics and Automation Magazine (RAM), 21(3):26-40, 2014. [Preprint]

Lionel Heng, Dominik Honegger, Gim Hee Lee, Lorenz Meier, Petri Tanskanen, Friedrich Fraundorfer, and Marc Pollefeys, Autonomous Visual Mapping and Exploration With a Micro Aerial Vehicle, Journal of Field Robotics (JFR), 31(4):654-675, 2014. [Preprint]

Lorenz Meier, Petri Tanskanen, Lionel Heng, Gim Hee Lee, Friedrich Fraundorfer, and Marc Pollefeys, PIXHAWK: A Micro Aerial Vehicle Design for Autonomous Flight using Onboard Computer Vision, Autonomous Robots (AURO), 2011. [Preprint]

Conference Publications

Peidong Liu, Lionel Heng, Torsten Sattler, Andreas Geiger, and Marc Pollefeys, Direct Visual Odometry for a Fisheye-Stereo Camera, In Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017. [Paper]

Lionel Heng and Benjamin Choi, Semi-Direct Visual Odometry for a Fisheye-Stereo Camera, In Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016. [Paper]

Ulrich Schwesinger, Mathias Bürki, Julian Timpner, Stephan Rottmann, Lars Wolf, Lina Maria Paz, Hugo Grimmett, Ingmar Posner, Paul Newman, Christian Häne, Lionel Heng, Gim Hee Lee, Torsten Sattler, Marc Pollefeys, Marco Allodi, Francesco Valenti, Keiji Mimura, Bernd Göbelsmann, and Roland Siegwart, Automated Valet Parking and Charging for e-Mobility Results of the V-Charge Project, In Proceedings of the 2016 IEEE Intelligent Vehicles Symposium (IV), 2016.

Shengdong Xu, Dominik Honegger, Marc Pollefeys, and Lionel Heng, Real-Time 3D Navigation for Autonomous Vision-Guided MAVs, In Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015. [Paper]

Lionel Heng, Alkis Gotovos, Andreas Krause, and Marc Pollefeys, Efficient Visual Exploration and Coverage with a Micro Aerial Vehicle in Unknown Environments, In Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015. [Paper]

Christian Häne, Lionel Heng, Gim Hee Lee, Alexey Sizov, and Marc Pollefeys, Real-Time Direct Dense Matching on Fisheye Images Using Plane-Sweeping Stereo, In Proceedings of International Conference on 3D Vision (3DV), 2014. [Paper]

Lionel Heng, Gim Hee Lee, and Marc Pollefeys, Self-Calibration and Visual SLAM with a Multi-Camera System on a Micro Aerial Vehicle, In Proceedings of Robotics: Science and Systems X (RSS), 2014. [Paper] [Code]

Lionel Heng, Mathias Bürki, Gim Hee Lee, Paul Furgale, Roland Siegwart, and Marc Pollefeys, Infrastructure-Based Calibration of a Multi-Camera Rig, In Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA), 2014. [Paper] [Code]

Lionel Heng, Bo Li, and Marc Pollefeys, CamOdoCal: Automatic Intrinsic and Extrinsic Calibration of a Rig with Multiple Generic Cameras and Odometry, In Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013. [Paper] [Code]

Bo Li, Lionel Heng, Gim Hee Lee, and Marc Pollefeys, A 4-Point Algorithm for Relative Pose Estimation of a Calibrated Camera with a Known Relative Rotation Angle, In Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013. [Paper]

Bo Li, Lionel Heng, Kevin Koeser, and Marc Pollefeys, A Multiple-Camera System Calibration Toolbox Using a Feature Descriptor-Based Calibration Pattern, In Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013. [Paper]

Paul Furgale, Ulrich Schwesinger, Martin Rufli, Wojciech Derendarz, Hugo Grimmett, Peter Mühlfellner, Stefan Wonneberger, Julian Timpner, Stephan Rottmann, Bo Li, Bastian Schmidt, Thien Nghia Nguyen, Elena Cardarelli, Stefano Cattani, Stefan Brüning, Sven Horstmann, Martin Stellmacher, Holger Mielenz, Kevin Köser, Markus Beermann, Christian Häne, Lionel Heng, Gim Hee Lee, Friedrich Fraundorfer, René Iser, Rudolph Triebel, Ingmar Posner, Paul Newman, Lars Wolf, Marc Pollefeys, Stefan Brosig, Jan Effertz, Cédric Pradalier, and Roland Siegwart, Toward Automated Driving in Cities using Close-to-Market Sensors: an overview of the V-Charge project, In Proceedings of the 2013 IEEE Intelligent Vehicles Symposium (IV), 2013. [Paper]

Friedrich Fraundorfer, Lionel Heng, Dominik Honegger, Gim Hee Lee, Lorenz Meier, Petri Tanskanen, and Marc Pollefeys, Vision-Based Autonomous Mapping and Exploration Using a Quadrotor MAV, In Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012. Finalist for Best Paper Award. [Paper]

Lionel Heng, Gim Hee Lee, Friedrich Fraundorfer, and Marc Pollefeys, Real-Time Photo-Realistic 3D Mapping for Micro Aerial Vehicles, In Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011. [Paper]

Lionel Heng, Lorenz Meier, Petri Tanskanen, Friedrich Fraundorfer, and Marc Pollefeys, Autonomous Obstacle Avoidance and Maneuvering on a Vision-Guided MAV Using On-Board Processing, In Proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA), 2011. [Paper]

Lionel Heng, Zi Jing Bay, Yaohui Li, Yew Khong See, and Kim Yaw Yong, Autonomous Navigation in Off-Road Environments, In Proceedings of the Israeli Conference on Robotics, 2010.