Wolfram Burgard

Wolfram Burgard
University of Technology Nuremberg | UTN

Dr.

About

1,040
Publications
426,657
Reads
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88,823
Citations
Introduction
My work is driven by the intent to build intelligent robots that understand their perceptions and can robustly operate in dynamic and unstructured environments.
Additional affiliations
April 2002 - October 2002
Carnegie Mellon University
April 1999 - present
University of Freiburg
June 1990 - March 1999
University of Bonn
Education
November 1989 - January 1991
University of Bonn
Field of study
  • Computer Science
November 1989 - January 1991
University of Bonn
Field of study
  • Computer Science
May 1987 - October 1989
TU Dortmund University
Field of study
  • Computer Science

Publications

Publications (1,040)
Preprint
Dynamic scene understanding remains a persistent challenge in robotic applications. Early dynamic mapping methods focused on mitigating the negative influence of short-term dynamic objects on camera motion estimation by masking or tracking specific categories, which often fall short in adapting to long-term scene changes. Recent efforts address obj...
Article
Sensor setups of robotic platforms commonly include both camera and LiDAR as they provide complementary information. However, fusing these two modalities typically requires a highly accurate calibration between them. In this paper, we propose MDPCalib which is a novel method for camera-LiDAR calibration that requires neither human supervision nor a...
Preprint
Full-text available
Nowadays, unmanned aerial vehicles (UAVs) are commonly used in search and rescue scenarios to gather information in the search area. The automatic identification of the person searched for in aerial footage could increase the autonomy of such systems, reduce the search time, and thus increase the missed person's chances of survival. In this paper,...
Preprint
Full-text available
In this paper, we propose VLM-Vac, a novel framework designed to enhance the autonomy of smart robot vacuum cleaners. Our approach integrates the zero-shot object detection capabilities of a Vision-Language Model (VLM) with a Knowledge Distillation (KD) strategy. By leveraging the VLM, the robot can categorize objects into actionable classes -- eit...
Preprint
Embodied AI has made significant progress acting in unexplored environments. However, tasks such as object search have largely focused on efficient policy learning. In this work, we identify several gaps in current search methods: They largely focus on dated perception models, neglect temporal aggregation, and transfer from ground truth directly to...
Chapter
Full-text available
Motion planning for automated vehicles (AVs) in mixed traffic, where AVs share the road with human-driven vehicles, is a challenging task. To reduce the complexity, state-of-the-art planning approaches often assume that the future motion of surrounding vehicles can be predicted independently of the AV’s plan. This separation can lead to suboptimal,...
Chapter
Full-text available
Intersections are a significant bottleneck in traffic and have been a topic of much research. Optimization approaches incorporating traffic models are often limited by the intractable complexity resulting from the combinatorial explosion associated with increasing numbers of vehicles. Learning cooperative maneuver policies with deep neural networks...
Article
The availability of a robust map-based localization system is essential for the operation of many autonomously navigating vehicles. Since uncertainty is an inevitable part of perception, it is beneficial for the robustness of the robot to consider it in typical downstream tasks of navigation stacks. In particular localization and mapping methods, w...
Preprint
Full-text available
Robustness against Out-of-Distribution (OoD) samples is a key performance indicator of a trajectory prediction model. However, the development and ranking of state-of-the-art (SotA) models are driven by their In-Distribution (ID) performance on individual competition datasets. We present an OoD testing protocol that homogenizes datasets and predict...
Article
Full-text available
Automated and autonomous industrial inspection is a longstanding research field, driven by the necessity to enhance safety and efficiency within industrial settings. In addressing this need, we introduce an autonomously navigating robotic system designed for comprehensive plant inspection. This innovative system comprises a robotic platform equippe...
Article
Reliable object grasping is a crucial capability for autonomous robots. However, many existing grasping approaches focus on general clutter removal without explicitly modeling objects and thus only relying on the visible local geometry. We introduce CenterGrasp, a novel framework that combines object awareness and holistic grasping. CenterGrasp lea...
Preprint
Semantic Bird's Eye View (BEV) maps offer a rich representation with strong occlusion reasoning for various decision making tasks in autonomous driving. However, most BEV mapping approaches employ a fully supervised learning paradigm that relies on large amounts of human-annotated BEV ground truth data. In this work, we address this limitation by p...
Preprint
A key challenge for the widespread application of learning-based models for robotic perception is to significantly reduce the required amount of annotated training data while achieving accurate predictions. This is essential not only to decrease operating costs but also to speed up deployment time. In this work, we address this challenge for PAnopt...
Article
A key challenge for the widespread application of learning-based models for robotic perception is to significantly reduce the required amount of annotated training data while achieving accurate predictions. This is essential not only to decrease operating costs but also to speed up deployment time. In this work, we address this challenge for PA n...
Article
In policy learning for robotic manipulation, sample efficiency is of paramount importance. Thus, learning and extracting more compact representations from camera observations is a promising avenue. However, current methods often assume full observability of the scene and struggle with scale invariance. In many tasks and settings, this assumption do...
Preprint
Full-text available
In today's chemical production plants, human field operators perform frequent checks on the plant's integrity to guarantee high safety standards, and thus are possibly the first to encounter dangerous operating conditions. To alleviate their tasks of failure detection and monitoring by audio, visual, and olfactory perceptions, we present a robotic...
Preprint
Simultaneous localization and mapping (SLAM) in slowly varying scenes is important for long-term robot task completion. Failing to detect scene changes may lead to inaccurate maps and, ultimately, lost robots. Classical SLAM algorithms assume static scenes, and recent works take dynamics into account, but require scene changes to be observed in con...
Preprint
Geometric regularity, which leverages data symmetry, has been successfully incorporated into deep learning architectures such as CNNs, RNNs, GNNs, and Transformers. While this concept has been widely applied in robotics to address the curse of dimensionality when learning from high-dimensional data, the inherent reflectional and rotational symmetry...
Preprint
Full-text available
Lane graph estimation is a long-standing problem in the context of autonomous driving. Previous works aimed at solving this problem by relying on large-scale, hand-annotated lane graphs, introducing a data bottleneck for training models to solve this task. To overcome this limitation, we propose to use the motion patterns of traffic participants as...
Preprint
Full-text available
This paper proposes a framework for generating fast, smooth and predictable braking manoeuvers for a controlled robot. The proposed framework integrates two approaches to obtain feasible modal limits for designing braking trajectories. The first approach is real-time capable but conservative considering the usage of the available feasible actuator...
Preprint
In policy learning for robotic manipulation, sample efficiency is of paramount importance. Thus, learning and extracting more compact representations from camera observations is a promising avenue. However, current methods often assume full observability of the scene and struggle with scale invariance. In many tasks and settings, this assumption do...
Article
Reliable scene understanding is indispensable for modern autonomous systems. Current learning-based methods typically try to maximize their performance based on segmentation metrics that only consider the quality of the segmentation. However, for the safe operation of a system in the real world it is crucial to consider the uncertainty in the predi...
Preprint
Visual place recognition is essential for vision-based robot localization and SLAM. Despite the tremendous progress made in recent years, place recognition in changing environments remains challenging. A promising approach to cope with appearance variations is to leverage high-level semantic features like objects or place categories. In this paper,...
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Full-text available
The safe deployment of autonomous vehicles relies on their ability to effectively react to environmental changes. This can require maneuvering on varying surfaces which is still a difficult problem, especially for slippery terrains. To address this issue we propose a new approach that learns a surface-aware dynamics model by conditioning it on a la...
Preprint
Full-text available
Visual odometry is a fundamental task for many applications on mobile devices and robotic platforms. Since such applications are oftentimes not limited to predefined target domains and learning-based vision systems are known to generalize poorly to unseen environments, methods for continual adaptation during inference time are of significant intere...
Preprint
Operating a robot in the open world requires a high level of robustness with respect to previously unseen environments. Optimally, the robot is able to adapt by itself to new conditions without human supervision, e.g., automatically adjusting its perception system to changing lighting conditions. In this work, we address the task of continual learn...
Preprint
Early stopping based on the validation set performance is a popular approach to find the right balance between under- and overfitting in the context of supervised learning. However, in reinforcement learning, even for supervised sub-problems such as world model learning, early stopping is not applicable as the dataset is continually evolving. As a...
Chapter
Robots operating in the open world encounter various different environments that can substantially differ from each other. This domain gap also poses a challenge for Simultaneous Localization and Mapping (SLAM) being one of the fundamental tasks for navigation. In particular, learning-based SLAM methods are known to generalize poorly to unseen envi...
Preprint
Full-text available
Uncertainty estimation is crucial in safety-critical settings such as automated driving as it provides valuable information for several downstream tasks including high-level decision-making and path planning. In this work, we propose EvCenterNet, a novel uncertainty-aware 2D object detection framework utilizing evidential learning to directly estim...
Article
A key component of graph-based SLAM systems is the ability to detect loop closures in a trajectory to reduce the drift accumulated over time from the odometry. Most LiDAR-based methods achieve this goal by using only the geometric information, disregarding the semantics of the scene. In this work, we introduce PADLoC for joint loop closure detectio...
Preprint
Full-text available
Lane graph estimation is an essential and highly challenging task in automated driving and HD map learning. Existing methods using either onboard or aerial imagery struggle with complex lane topologies, out-of-distribution scenarios, or significant occlusions in the image space. Moreover, merging overlapping lane graphs to obtain consistent large-s...
Preprint
Full-text available
Bird's-Eye-View (BEV) semantic maps have become an essential component of automated driving pipelines due to the rich representation they provide for decision-making tasks. However, existing approaches for generating these maps still follow a fully supervised training paradigm and hence rely on large amounts of annotated BEV data. In this work, we...
Article
Lane graph estimation is a long-standing problem in the context of autonomous driving. Previous works aimed at solving this problem by relying on large-scale, hand-annotated lane graphs, introducing a data bottleneck for training models to solve this task. To overcome this limitation, we propose to use the motion patterns of traffic participants as...
Book
In the past decade, artificial intelligence (AI) has become a disruptive force around the world, offering enormous potential for innovation but also creating hazards and risks for individuals and the societies in which they live. This volume addresses the most pressing philosophical, ethical, legal, and societal challenges posed by AI. Contributors...
Preprint
Grounding language to the visual observations of a navigating agent can be performed using off-the-shelf visual-language models pretrained on Internet-scale data (e.g., image captions). While this is useful for matching images to natural language descriptions of object goals, it remains disjoint from the process of mapping the environment, so that...
Preprint
Modern autonomous systems often rely on LiDAR scanners, in particular for autonomous driving scenarios. In this context, reliable scene understanding is indispensable. Current learning-based methods typically try to achieve maximum performance for this task, while neglecting a proper estimation of the associated uncertainties. In this work, we intr...
Preprint
Recent works have shown that Large Language Models (LLMs) can be applied to ground natural language to a wide variety of robot skills. However, in practice, learning multi-task, language-conditioned robotic skills typically requires large-scale data collection and frequent human intervention to reset the environment or help correcting the current p...
Article
A long-standing goal in robotics is to build robots that can perform a wide range of daily tasks from perceptions obtained with their onboard sensors and specified only via natural language. While recently substantial advances have been achieved in language-driven robotics by leveraging end-to-end learning from pixels, there is no clear and well-un...
Article
In the past decade, artificial intelligence (AI) has become a disruptive force around the world, offering enormous potential for innovation but also creating hazards and risks for individuals and the societies in which they live. This volume addresses the most pressing philosophical, ethical, legal, and societal challenges posed by AI. Contributors...
Article
In this chapter, the law scholar Jan von Hein analyses and evaluates the European Parliament’s proposal on a civil liability regime for artificial intelligence against the background of the already existing European regulatory framework on private international law, in particular the Rome I and II Regulations. The draft regulation (DR) proposed by...
Article
In the past decade, artificial intelligence (AI) has become a disruptive force around the world, offering enormous potential for innovation but also creating hazards and risks for individuals and the societies in which they live. This volume addresses the most pressing philosophical, ethical, legal, and societal challenges posed by AI. Contributors...
Article
In the past decade, artificial intelligence (AI) has become a disruptive force around the world, offering enormous potential for innovation but also creating hazards and risks for individuals and the societies in which they live. This volume addresses the most pressing philosophical, ethical, legal, and societal challenges posed by AI. Contributors...
Article
In this chapter, the philosopher Mathias Risse reflects on the medium and long-term prospects and challenges democracy faces from AI. Comparing the political nature of AI systems with traffic infrastructure, the author points out AI’s potential to greatly strengthen democracy, but only with the right efforts. The chapter starts with a critical exam...
Article
The philosopher Wilfried Hinsch focuses on statistical discrimination by means of computational profiling. He defines statistical profiling as an estimate of what individuals will do by considering the group of people they can be assigned to. The author explores which criteria of fairness and justice are appropriate for the assessment of computatio...
Article
In this chapter, the ethics and international law scholar Silja Voeneky and the mathematician Thorsten Schmidt propose a new adaptive regulation scheme for AI-driven products and services. To this end, the authors examine different regulatory regimes, including the European Medical Devices Regulation (MDR), and the proposed AI Act by the European C...
Article
To answer the question of what responsible AI means, the authors, Jaan Tallinn and Richard Ngo, propose a framework for the deployment of AI which focuses on two concepts: delegation and supervision. The framework aims towards building ‘delegate AIs’ which lack goals of their own but can perform any task delegated to them. However, AIs trained with...
Article
In this chapter, the law scholar Ralf Poscher sets out to show how AI challenges the traditional understanding of the right to data protection and presents an outline of an alternative conception that better deals with emerging AI technologies. Firstly, Poscher explains how the traditional conceptualisation of data protection as an independent fund...
Article
In the past decade, artificial intelligence (AI) has become a disruptive force around the world, offering enormous potential for innovation but also creating hazards and risks for individuals and the societies in which they live. This volume addresses the most pressing philosophical, ethical, legal, and societal challenges posed by AI. Contributors...
Article
The chapter aims to serve as a conceptual sketch for the intricacies involved in autonomous algorithmic collusion, including the notion of concerted practices for cases that would otherwise elude the cartel prohibition. Stefan Thomas, a law scholar, starts by assessing how algorithms can influence competition in markets before dealing with the trad...
Article
In this chapter, the philosophers Oliver Mueller and Boris Essmann address AI-supported neurotechnology, especially Brain–Computer Interfaces (BCIs) that may in the future supplement and restore functioning in agency-limited individuals or even augment or enhance capacities for natural agency. The authors propose a normative framework for the evalu...
Article
In this chapter, Fruzsina Molnár-Gábor and Johanne Giesecke consider specific aspects of how the application of AI-based systems in medical contexts may be guided under international standards. They sketch the relevant international frameworks for the governance of medical AI. Among the frameworks that exist, the World Medical Association’s activit...
Article
This chapter by the philosopher Johanna Thoma focuses on the ‘moral proxy problem’, which arises when an autonomous artificial agent makes a decision as a proxy for a human agent, without it being clear for whom specifically it does so. Thoma recognises that, in general, there are broadly two categories of agents an artificial agent can be a proxy...
Article
In the past decade, artificial intelligence (AI) has become a disruptive force around the world, offering enormous potential for innovation but also creating hazards and risks for individuals and the societies in which they live. This volume addresses the most pressing philosophical, ethical, legal, and societal challenges posed by AI. Contributors...
Article
In this chapter, the law scholar Christoph Krönke focuses on the legal challenges faced by healthcare AI Alter Egos, especially in the European Union. Firstly, the author outlines the functionalities of AI Alter Egos in the healthcare sector. Based on this, he explores the applicable legal framework as AI Alter Egos have two main functions: collect...
Article
In this chapter, Mathias Paul explores the topic of AI systems in the financial industry. After outlining different areas of application of AI in the financial sector and different regulatory regimes relevant to robo-finance, the author analyses the risks emerging from AI applications in the financial industry. He argues that AI systems applied in...
Article
The law scholars Weixing Shen and Yun Liu focus on China’s efforts in the field of AI regulation and spell out recent legislative actions. While there is no unified AI law today in China, many provisions from Chinese data protection law are in part applicable to AI systems. The authors particularly analyse the rights and obligations from the Chines...
Article
In this chapter, law and technology scholar Jonathan Zittrain warns of the danger of relying on answers for which we have no explanations. There are benefits to utilising solutions discovered through trial and error rather than rigorous proof: though aspirin was discovered in the late 19th century, it was not until the late 20th century that scient...