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Scopus Author ID: 15846506300

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robotics, perception, planning, aerial vehicles

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Employment (1)

Carnegie Mellon University: Pittsburgh, Pennsylvania, US

Associate Research Professor (Robotics)
Employment
Source: Self-asserted source
Sebastian Scherer

Works (50 of 263)

Items per page:
Page 1 of 6

Aug3D: Augmenting large scale outdoor datasets for Generalizable Novel View Synthesis

2025 | Other
URI:

https://arxiv.org/abs/2501.06431
Contributors: Rauniyar, Aditya; Alama, Omar; Yong, Silong; Sycara, Katia; Scherer, Sebastian
Source: Self-asserted source
Sebastian Scherer

General Place Recognition Survey: Towards Real-World Autonomy

IEEE Transactions on Robotics
2025 | Journal article
DOI: 10.1109/TRO.2025.3550771
Contributors: Peng Yin; Jianhao Jiao; Shiqi Zhao; Lingyun Xu; Guoquan Huang; Howie Choset; Sebastian Scherer; Jianda Han
Source: check_circle
Crossref

UniSaT: Unified-Objective Belief Model and Planner to Search for and Track Multiple Objects

AIAA SCITECH 2025 Forum
2025 | Conference paper
DOI: 10.2514/6.2025-2114
Contributors: Santos, Leonardo; Moon, Brady; Scherer, Sebastian; Nguyen, Hoa Van
Source: Self-asserted source
Sebastian Scherer

FIReStereo: Forest InfraRed Stereo Dataset for UAS Depth Perception in Visually Degraded Environments

IEEE Robotics and Automation Letters
2025-04 | Journal article
DOI: 10.1109/LRA.2025.3536278
Contributors: Devansh Dhrafani; Yifei Liu; Andrew Jong; Ukcheol Shin; Yao He; Tyler Harp; Yaoyu Hu; Jean Oh; Sebastian Scherer
Source: check_circle
Crossref

Image, speech, and ADS-B trajectory datasets for terminal airspace operations

Scientific Data
2025-03-20 | Journal article
DOI: 10.1038/s41597-025-04775-6
Contributors: Jay Patrikar; Joao Dantas; Brady Moon; Milad Hamidi; Sourish Ghosh; Nikhil Keetha; Ian Higgins; Atharva Chandak; Takashi Yoneyama; Sebastian Scherer
Source: check_circle
Crossref

Interaction-aware control for robotic vegetation override in off-road environments

Journal of Terramechanics
2025-02 | Journal article
DOI: 10.1016/j.jterra.2024.101034
Contributors: Charles Noren; Bhaskar Vundurthy; Sebastian Scherer; Matthew Travers
Source: check_circle
Crossref

[Withdrawn] AirIO: Learning Inertial Odometry with Enhanced IMU Feature Observability —  air-io.github.io

2025-02-05 | Preprint
DOI: 10.32388/7IC7QD
Contributors: Yuheng Qiu; Can Xu; Yutian Chen; Shibo Zhao; Junyi Geng; Sebastian Scherer
Source: check_circle
Crossref

A Unified MPC Strategy for a Tilt-rotor VTOL UAV Towards Seamless Mode Transitioning

AIAA SCITECH 2024 Forum
2024 | Conference paper
Contributors: Chen, Qizhao; Hu, Ziqi; Geng, Junyi; Bai, Dongwei; Mousaei, Mohammadreza; Scherer, Sebastian
Source: Self-asserted source
Sebastian Scherer

Aerial interaction with tactile sensing

2024 IEEE International Conference on Robotics and Automation (ICRA)
2024 | Conference paper
DOI: https://doi.org/10.1109/ICRA57147.2024.10611282
Contributors: Guo, Xiaofeng; He, Guanqi; Mousaei, Mohammadreza; Geng, Junyi; Shi, Guanya; Scherer, Sebastian
Source: Self-asserted source
Sebastian Scherer

AirShot: Efficient Few-Shot Detection for Autonomous Exploration

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
2024 | Conference paper
URI:

https://arxiv.org/abs/2404.05069
Contributors: Wang, Zihan; Li, Bowen; Wang, Chen; Scherer, Sebastian
Source: Self-asserted source
Sebastian Scherer

CoCap: Coordinated motion Capture for multi-actor scenes in outdoor environments

2024 | Other
URI:

https://cocapture.github.io
Contributors: Rauniyar, Aditya; Corah, Micah; Scherer, Sebastian
Source: Self-asserted source
Sebastian Scherer

Deep Bayesian Future Fusion for Self-Supervised, High-Resolution, Off-Road Mapping

2024 | Other
URI:

https://arxiv.org/pdf/2403.11876.pdf
Contributors: Aich, Shubhra; Wang, Wenshan; Maheshwari, Parv; Sivaprakasam, Matthew; Triest, Samuel; Ho, Cherie; Gregory, Jason M.; Rogers, John G. III; Scherer, Sebastian
Source: Self-asserted source
Sebastian Scherer

FIReStereo: Forest InfraRed Stereo Dataset for UAS Depth Perception in Visually Degraded Environments

2024 | Other
URI:

https://arxiv.org/abs/2409.07715
Contributors: Dhrafani, Devansh; Liu, Yifei; Jong, Andrew; Shin, Ukcheol; He, Yao; Harp, Tyler; Hu, Yaoyu; Oh, Jean; Scherer, Sebastian
Source: Self-asserted source
Sebastian Scherer

Flying Calligrapher: Contact-Aware Motion and Force Planning and Control for Aerial Manipulation

IEEE Robotics and Automation Letters
2024 | Journal article
DOI: 10.1109/LRA.2024.3486236
Contributors: Xiaofeng Guo; Guanqi He; Jiahe Xu; Mohammadreza Mousaei; Junyi Geng; Sebastian Scherer; Guanya Shi
Source: check_circle
Crossref

General Place Recognition Survey: Towards Real-World Autonomy

2024 | Other
URI:

https://arxiv.org/abs/2405.04812
Contributors: Yin, Peng; Jiao, Jianhao; Zhao, Shiqi; Xu, Lingyun; Huang, Guoquan; Choset, Howie; Scherer, Sebastian; Han, Jianda
Source: Self-asserted source
Sebastian Scherer

Geometry-Informed Distance Candidate Selection for Adaptive Lightweight Omnidirectional Stereo Vision with Fisheye Images

2024 IEEE International Conference on Robotics and Automation (ICRA)
2024 | Conference paper
DOI: 10.1109/ICRA57147.2024.10611359
Contributors: Pulling, Conner; Tan, Je Hon; Hu, Yaoyu; Scherer, Sebastian
Source: Self-asserted source
Sebastian Scherer

How is the Pilot Doing: VTOL Pilot Workload Estimation by Multimodal Machine Learning on Psycho-physiological Signals

2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN)
2024 | Conference paper
DOI: 10.1109/RO-MAN60168.2024.10731202
Contributors: Park, Jong Hoon; Chen, Lawrence; Higgins, Ian; Zheng, Zhaobo; Mehrotra, Shashank; Salubre, Kevin; Mousaei, Mohammadreza; Willits, Steven; Levedahl, Blaine; Buker, Timothy et al.
Source: Self-asserted source
Sebastian Scherer

Informative Sensor Planning for a Single-Axis Gimbaled Camera on a Fixed-Wing UAV

2024 IEEE 20th International Conference on Automation Science and Engineering (CASE)
2024 | Conference paper
DOI: 10.1109/CASE59546.2024.10711697
Contributors: Parandekar, Aditya; Moon, Brady; Suvarna, Nayana; Scherer, Sebastian
Source: Self-asserted source
Sebastian Scherer

Learning Generalizable Feature Fields for Mobile Manipulation

2024 | Other
URI:

https://arxiv.org/pdf/2403.07563.pdf
Contributors: Qiu, Ri-Zhao; Hu, Yafei; Yang, Ge; Song, Yuchen; Fu, Yang; Ye, Jianglong; Mu, Jiteng; Yang, Ruihan; Atanasov, Nikolay; Scherer, Sebastian et al.
Source: Self-asserted source
Sebastian Scherer

Learning-on-the-Drive: Self-supervised Adaptation of Visual Offroad Traversability Models

2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
2024 | Journal article
URI:

https://arxiv.org/pdf/2306.15226
Contributors: Chen, Eric; Ho, Cherie; Maulimov, Mukhtar; Wang, Chen; Scherer, Sebastian
Source: Self-asserted source
Sebastian Scherer

LogiCity: Advancing Neuro-Symbolic AI with Abstract Urban Simulation

Advances in Neural Information Processing Systems (NeurIPS)
2024 | Conference paper
URI:

https://github.com/Jaraxxus-Me/LogiCity
Contributors: Li, Bowen; Li, Zhaoyu; Du, Qiwei; Luo, Jinqi; Wang, Wenshan; Xie, Yaqi; Stepputtis, Simon; Wang, Chen; Sycara, Katia P.; Ravikumar, Pradeep Kumar et al.
Source: Self-asserted source
Sebastian Scherer

MAC-Ego3D: Multi-Agent Gaussian Consensus for Real-Time Collaborative Ego-Motion and Photorealistic 3D Reconstruction

2024 | Other
URI:

https://github.com/xiaohao-xu/mac-ego3d
Contributors: Xu, Xiaohao; Xue, Feng; Zhao, Shibo; Pan, Yike; Scherer, Sebastian; Huang, Xiaonan
Source: Self-asserted source
Sebastian Scherer

MAC-VO: Metrics-aware Covariance for Learning-based Stereo Visual Odometry

2024 | Other
URI:

https://mac-vo.github.io
Contributors: Qiu, Yuheng; Chen, Yutian; Zhang, Zihao; Wang, Wenshan; Scherer, Sebastian
Source: Self-asserted source
Sebastian Scherer

Map It Anywhere (MIA): Empowering Bird's Eye View Mapping using Large-scale Public Data

Advances in Neural Information Processing Systems
2024 | Conference paper
URI:

https://arxiv.org/abs/2407.08726
Contributors: Ho, Cherie; Zou, Jiaye; Alama, Omar; Kumar , Sai Mitheran Jagadesh; Chiang, Benjamin; Gupta, Taneesh; Wang, Chen; Keetha, Nikhil; Sycara, Katia; Scherer, Sebastian
Source: Self-asserted source
Sebastian Scherer

MapEx: Indoor Structure Exploration with Probabilistic Information Gain from Global Map Predictions

2024 | Other
URI:

https://arxiv.org/abs/2409.15590
Contributors: Ho, Cherie; Kim, Seungchan; Moon, Brady; Parandekar, Aditya; Harutyunyan, Narek; Wang, Chen; Sycara, Katia; Best, Graeme; Scherer, Sebastian
Source: Self-asserted source
Sebastian Scherer

Multi-Robot Planning for Filming Groups of Moving Actors Leveraging Submodularity and Pixel Density

2024 | Other
URI:

https://arxiv.org/pdf/2404.03103.pdf
Contributors: Hughes, Skyler; Martin, Rebecca; Corah, Micah; Scherer, Sebastian
Source: Self-asserted source
Sebastian Scherer

Pegasus simulator: An isaac sim framework for multiple aerial vehicles simulation

2024 International Conference on Unmanned Aircraft Systems (ICUAS)
2024 | Conference paper
DOI: 10.1109/ICUAS60882.2024.10556959
Contributors: Jacinto, Marcelo; Pinto, João; Patrikar, Jay; Keller, John; Cunha, Rita; Scherer, Sebastian; Pascoal, António
Source: Self-asserted source
Sebastian Scherer

Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge

IEEE Transactions on Robotics
2024 | Journal article
DOI: 10.1109/TRO.2023.3323938
Contributors: Ebadi, Kamak; Bernreiter, Lukas; Biggie, Harel; Catt, Gavin; Chang, Yun; Chatterjee, Arghya; Denniston, Christopher E.; Deschênes, Simon-Pierre; Harlow, Kyle; Khattak, Shehryar et al.
Source: Self-asserted source
Sebastian Scherer

RuleFuser: An Evidential Bayes Approach for Rule Injection in Imitation Learned Planners and Predictors for Robustness under Distribution Shifts

2024 | Other
URI:

https://arxiv.org/abs/2405.11139
Contributors: Patrikar, Jay; Veer, Sushant; Sharma, Apoorva; Pavone, Marco; Scherer, Sebastian
Source: Self-asserted source
Sebastian Scherer

SALON: Self-supervised Adaptive Learning for Off-road Navigation

2024 | Other
URI:

https://theairlab.org/SALON/
Contributors: Sivaprakasam, Matthew; Triest, Samuel; Ho, Cherie; Aich, Shubhra; Lew, Jeric; Adu, Isaiah; Wang, Wenshan; Scherer, Sebastian
Source: Self-asserted source
Sebastian Scherer

SoRTS: Learned Tree Search for Long Horizon Social Robot Navigation

IEEE Robotics and Automation Letters
2024 | Journal article
DOI: 10.1109/LRA.2024.3370051
Contributors: Ingrid Navarro; Jay Patrikar; Joao P. A. Dantas; Rohan Baijal; Ian Higgins; Sebastian Scherer; Jean Oh
Source: check_circle
Crossref

SplaTAM: Splat, track & map 3d gaussians for dense rgb-d SLAM

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition
2024 | Conference paper
DOI: 10.1109/CVPR52733.2024.02018
Contributors: Keetha, Nikhil; Karhade, Jay; Jatavallabhula, Krishna Murthy; Yang, Gengshan; Scherer, Sebastian; Ramanan, Deva; Luiten, Jonathon
Source: Self-asserted source
Sebastian Scherer

SubT-MRS Dataset: Pushing SLAM Towards All-weather Environments

IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)
2024 | Conference paper
DOI: 10.1109/CVPR52733.2024.02137
Contributors: Zhao, Shibo; Gao, Yuanjun; Wu, Tianhao; Singh, Damanpreet; Jiang, Rushan; Sun, Haoxiang; Sarawata, Mansi; Whittaker, Warren C; Higgins, Ian; Su, Shaoshu et al.
Source: Self-asserted source
Sebastian Scherer

SuperLoc: The Key to Robust LiDAR-Inertial Localization Lies in Predicting Alignment Risks

2024 | Other
URI:

https://arxiv.org/abs/2412.02901
Contributors: Zhao, Shibo; Zhu, Honghao; Gap, Yuanjun; Kim, Beomsoo; Qiu, Yuheng; Johnson, Aaron M.; Scherer, Sebastian
Source: Self-asserted source
Sebastian Scherer

Targeted Image Transformation for Improving Robustness in Long Range Aircraft Detection

2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
2024 | Conference paper
DOI: 10.1109/IROS58592.2024.10801304
Contributors: Martin, Rebecca; Fung, Clement; Keetha, Nikhil; Bauer, Lujo; Scherer, Sebastian
Source: Self-asserted source
Sebastian Scherer

TartanAviation: Image, Speech, and ADS-B Trajectory Datasets for Terminal Airspace Operations

2024 | Other
URI:

https://arxiv.org/pdf/2403.03372.pdf
Contributors: Patrikar, Jay; Dantas, Joao; Moon, Brady; Hamidi, Milad; Ghosh, Sourish; Keetha, Nikhil; Higgins, Ian; Chandak, Atharva; Yoneyama, Takashi; Scherer, Sebastian
Source: Self-asserted source
Sebastian Scherer

TartanDrive 2.0: More Modalities and Better Infrastructure to Further Self-Supervised Learning Research in Off-Road Driving Tasks

2024 | Other
URI:

https://theairlab.org/TartanDrive2/
Contributors: Sivaprakasam, Matthew; Maheshwari, Parv; Castro, Mateo Guaman; Triest, Samuel; Nye, Micah; Willits, Steve; Saba, Andrew; Wang, Wenshan; Scherer, Sebastian
Source: Self-asserted source
Sebastian Scherer

UNRealNet: Learning Uncertainty-Aware Navigation Features from High-Fidelity Scans of Real Environments

2024 IEEE International Conference on Robotics and Automation (ICRA)
2024 | Conference paper
DOI: 10.1109/ICRA57147.2024.10610724
Contributors: Triest, Samuel; Fan, David D.; Scherer, Sebastian; Agha-Mohammadi, Ali-Akbar
Source: Self-asserted source
Sebastian Scherer

Velociraptor: Leveraging Visual Foundation Models for Label-Free, Risk-Aware Off-Road Navigation

8th Annual Conference on Robot Learning
2024 | Conference paper
URI:

https://openreview.net/forum?id=AhEE5wrcLU
Contributors: Triest, Samuel; Sivaprakasam, Matthew; Aich, Shubhra; Fan, David; Wang, Wenshan; Scherer, Sebastian
Source: Self-asserted source
Sebastian Scherer

Greedy Perspectives: Multi-Drone View Planning for Collaborative Perception in Cluttered Environments

Proc. of the IEEE/RSJ Intl. Conf. on Intell. Robots and Syst.
2024-10 | Conference paper
DOI: 10.1109/IROS58592.2024.10802601
Contributors: Suresh, Krishna; Rauniyar, Aditya; Corah, Micah; Scherer, Sebastian
Source: Self-asserted source
Sebastian Scherer

I2D-Loc++: Camera Pose Tracking in LiDAR Maps With Multi-View Motion Flows

IEEE Robotics and Automation Letters
2024-09 | Journal article
DOI: 10.1109/LRA.2024.3440851
Contributors: Huai Yu; Kuangyi Chen; Wen Yang; Sebastian Scherer; Gui-Song Xia
Source: check_circle
Crossref

Fast and Modular Autonomy Software for Autonomous Racing Vehicles

Field Robotics
2024-01 | Journal article
DOI: 10.55417/fr.2024001
Part of ISSN: 2771-3989
Contributors: Saba, Andrew; Adetunji, Aderotimi; Johnson, Adam; Kothari, Aadi; Sivaprakasam, Matthew; Spisak, Joshua; Bharatia, Prem; Chauhan, Arjun; Duff, Brendan; Gasparro, Noah et al.
Source: Self-asserted source
Sebastian Scherer

2D-3D Pose Tracking with Multi-View Constraints

arXiv preprint arXiv:2309.11335
2023 | Journal article
Contributors: Yu, Huai; Chen, Kuangyi; Yang, Wen; Scherer, Sebastian; Xia, Gui-Song
Source: Self-asserted source
Sebastian Scherer

360FusionNeRF: Panoramic neural radiance fields with joint guidance

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
2023 | Conference paper
DOI: 10.1109/IROS55552.2023.10341346
Contributors: Kulkarni, Shreyas; Yin, Peng; Scherer, Sebastian
Source: Self-asserted source
Sebastian Scherer

A Simulator for Fully-Actuated UAVs

The 2023 International Conference on Robotics and Automation (ICRA), Workshop on The Role of Robotics Simulators for Unmanned Aerial Vehicles
2023 | Conference paper
Contributors: Keipour, Azarakhsh; Mousaei, Mohammadreza; Scherer, Sebastian
Source: Self-asserted source
Sebastian Scherer

Aerial Interaction with Tactile Sensing

arXiv preprint arXiv:2310.00142
2023 | Journal article
Contributors: Guo, Xiaofeng; He, Guanqi; Mousaei, Mohammadreza; Geng, Junyi; Shi, Guanya; Scherer, Sebastian
Source: Self-asserted source
Sebastian Scherer

AirIMU: Learning Uncertainty Propagation for Inertial Odometry

arXiv preprint arXiv:2310.04874
2023 | Journal article
Contributors: Qiu, Yuheng; Wang, Chen; Zhou, Xunfei; Xia, Youjie; Scherer, Sebastian
Source: Self-asserted source
Sebastian Scherer

AirLoc: Object-based Indoor Relocalization

arXiv preprint arXiv:2304.00954
2023 | Journal article
Contributors: Li, Bowen; Scherer, Sebastian; Lin, Yun-Jou; Wang, Chen; others
Source: Self-asserted source
Sebastian Scherer

AirTrack: Onboard Deep Learning Framework for Long-Range Aircraft Detection and Tracking

International Conference on Robotics and Automation (ICRA)
2023 | Conference paper
DOI: 10.1109/ICRA48891.2023.10160627
Contributors: Sourish Ghosh; Jay Patrikar; Brady Moon; Milad Moghassem Hamidi; and Sebastian Scherer
Source: Self-asserted source
Sebastian Scherer

AnyLoc: Towards universal visual place recognition

IEEE Robotics and Automation Letters
2023 | Journal article
Contributors: Keetha, Nikhil; Mishra, Avneesh; Karhade, Jay; Jatavallabhula, Krishna Murthy; Scherer, Sebastian; Krishna, Madhava; Garg, Sourav
Source: Self-asserted source
Sebastian Scherer
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