Autonomous Robotics
& Perception Group

University of Colorado Boulder · Department of Computer Science

We build robots that perceive, navigate, and act in complex real-world environments. Our work spans perception, SLAM, field robotics, and vision-language-action models.

Research

Generative Geometry for Robot Autonomy

Generative Geometry for Robot Autonomy

We develop diffusion-based generative models that synthesize 3D occupancy and semantic geometry from partial observations, enabling robots to predict and plan through unseen space.

GitHub →
Vision-Language Understanding & Navigation

Vision-Language Understanding & Navigation

From the SUN-Spot dataset to Spatial-LLaVA, we advance how robots understand spatial language, ground referring expressions in visual scenes, and navigate from natural language instructions.

Multi-Robot Collaborative Perception

Multi-Robot Collaborative Perception

Building datasets and algorithms for multi-robot data association and collaborative perception in heterogeneous robot teams.

Millimeter Wave RADAR Perception

Millimeter Wave RADAR Perception

Pioneering the use of mmWave RADAR as a primary perception modality for robotics, from datasets to dense mapping in degraded visual conditions.

Past Research

MARBLE: DARPA Subterranean Challenge

MARBLE: DARPA Subterranean Challenge

Multi-agent autonomy with RADAR-based localization for exploring underground environments. 3rd place, $500K prize.

DARPA TTO
Mixed Reality for Field Robot Emergency Response

Mixed Reality for Field Robot Emergency Response

Immersive mixed reality interfaces for supervision and telepresence with outdoor field robotic systems.

NSF
Light Source Estimation

Light Source Estimation

Determining location, direction, intensity, and color of illuminants using physically-based rendering models.

Autonomous Vehicles & Agile Control

Autonomous Vehicles & Agile Control

Terrain-aware model predictive control, game-theoretic lane changing, and high-speed autonomous navigation through challenging terrain.

NSF
RestoreBot

RestoreBot

Autonomous multi-agent systems for targeted seed planting in degraded rangelands.

USDA/NIFA
Environmental Sensing

Environmental Sensing

Low-cost radar sensors for field-based water level monitoring with sub-centimeter accuracy.

Calibration & SLAM

Calibration & SLAM

Online self-calibration, Bayesian optimization for ICP and Kalman filters, and robust SLAM pipelines.

Medical Robotics

Medical Robotics

Autonomous endoscope navigation and disease-robust cardiac MRI segmentation.

People

Christoffer Heckman

Christoffer Heckman

Associate Professor, Department of Computer Science

Research focuses on robotics, computer vision, and machine learning. Leads work on robust perception and navigation for robots operating in challenging real-world environments.

Personal website →

Current PhD Students

Xuefei Sun
Xuefei Sun
Doncey Albin
Doncey Albin
Anna Zavei-Boroda
Anna Zavei-Boroda
Lorin Achey
Lorin Achey
Brendan Crowe
Brendan Crowe
Kali Hamilton
Kali Hamilton
  • Kristen Such — ML Scientist, PickNik Robotics
  • Alec Reed — Senior Software Engineer, Overland AI
  • Harel Biggie — Postdoc, MIT
  • Kyle Harlow — Computer Scientist, NRL
  • Steve McGuire — Asst. Professor, UC Santa Cruz
  • Mike Miles — Autonomy Engineer, Wisk
  • Cecilia Mauceri — Senior Software Engineer, Kodiak
  • Andrew Kramer — Applied Scientist, Amazon
  • John Stechschulte — Senior Algorithm Engineer, NVIDIA
  • Sina Aghli — Founder, Lynx Robotics
  • Fernando Nobre — CTO, Durable AI
  • Mike Kasper — Principal Research Engineer, Volum
  • Zhaozhong Chen — Research Scientist, InnoPeak
  • Sam Bateman — PhD Student, Princeton
  • Nikolaas Bender — Grad Student, UC Santa Cruz
  • Rio McMahon — Lead ML Engineer, Cipher Mining
  • Greg Lund — Grad Student, Stanford
  • Andrew Beathard — Grad Student, Texas A&M
  • Yang Li — Senior Software Engineer, Waymo
  • Ajay Narasimha Mopidevi — Lendbuzz
  • Dusty Woods — Overland AI
  • Miles Mena
  • Daniel Torres — Software Engineer, Barn Owl Robotics
  • Wyatt Raich — Software Engineer, HelloTrade
  • Earl Potters — JPMorganChase
  • Davis Landry — Automation and Controls Engineer, SpaceX
  • Ryan Slocum — Data Analyst, CU Boulder
  • Carl Stahoviak
  • Boston Cleek — Robotics Software Engineer
  • Soham Banerjee
  • Ryan Leonard — Berkshire Grey
  • Nikhil Mahendra — Medtronic
  • Corin Sandford
  • Akshay Singh
  • Gage Froelich — Mechanical Engineer, Ball Aerospace
  • Soroush Khadem — Clay
  • Daniel Kim
  • Kellen Mcdonald
  • Nicole Gunderson — PhD Student, UW
  • Akanksha Nelacanti
  • Caitlyn Robinson — Terumo Blood and Cell Technologies
  • Juan Falquez — Amazon Robotics
  • Xujia Zhang
  • Abhidip Bhattacharyya
  • Zachary Asmussen

Publications

2026
Radar SLAM (Chapter 9, SLAM Handbook)
Martin Magnusson, Christoffer Heckman, Henrik Andreasson, Ayoung Kim, Timothy Barfoot, Michael Kaess, Paul Newman
Cambridge University Press
Robust robotic exploration and mapping using generative occupancy map synthesis
Lorin Achey, Alec Reed, Brendan Crowe, Bradley Hayes, Christoffer Heckman
Auton. Robots
Cost-Effective Radar Sensors for Field-Based Water Level Monitoring with Sub-Centimeter Accuracy
Anna Zavei-Boroda, J. Toby Minear, Kyle Harlow, Dusty Woods, Christoffer Heckman
CoRR
RF-Modulated Adaptive Communication Improves Multi-Agent Robotic Exploration
Lorin Achey, Breanne Crockett, Christoffer Heckman, Bradley Hayes
CoRR
Reducing Text Bias in Synthetically Generated MCQAs for VLMs in Autonomous Driving
Sutej Kulgod, Sean Ye, Sanchit Tanwar, Christoffer Heckman
CoRR
2025
Foundation Models for Rapid Autonomy Validation
Alec Farid, Peter Schleede, Aaron Huang, Christoffer Heckman
ICRA
Online Diffusion-Based 3D Occupancy Prediction at the Frontier with Probabilistic Map Reconciliation
Alec Reed, Lorin Achey, Brendan Crowe, Bradley Hayes, Christoffer Heckman
ICRA
Spatial-LLaVA: Enhancing Large Language Models with Spatial Referring Expressions for Visual Understanding
Xuefei Sun, Doncey Albin, Cecilia Mauceri, Dusty Woods, Christoffer Heckman
CoRR
CU-Multi: A Dataset for Multi-Robot Data Association
Doncey Albin, Miles Mena, Annika Thomas, Harel Biggie, Xuefei Sun, Dusty Woods, Steve McGuire, Christoffer Heckman
CoRR
Robust Robotic Exploration and Mapping Using Generative Occupancy Map Synthesis
Lorin Achey, Alec Reed, Brendan Crowe, Bradley Hayes, Christoffer Heckman
CoRR
Octree Latent Diffusion for Semantic 3D Scene Generation and Completion
Xujia Zhang, Brendan Crowe, Christoffer Heckman
CoRR
CU-Multi: A Dataset for Multi-Robot Collaborative Perception
Doncey Albin, Daniel McGann, Miles Mena, Annika Thomas, Harel Biggie, Xuefei Sun, Steve McGuire, Jonathan P. How, Christoffer Heckman
CoRR
2024
Neural dynamics of robust legged robots
Eugene R. Rush, Christoffer Heckman, Kaushik Jayaram, J. Sean Humbert
Frontiers Robotics AI
Kalman Filter Auto-Tuning With Consistent and Robust Bayesian Optimization
Zhaozhong Chen, Harel Biggie, Nisar R. Ahmed, Simon Julier, Christoffer Heckman
IEEE Trans. Aerosp. Electron. Syst.
Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge
Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee 0002, Christopher E. Denniston, Simon-Pierre Deschênes, Kyle Harlow, Shehryar Khattak, Lucas Nogueira, Matteo Palieri, Pavel Petrácek, Matej Petrlík, Andrzej Reinke, Vít Krátký, Shibo Zhao, Ali-akbar Agha-mohammadi, Kostas Alexis, Christoffer Heckman, Kasra Khosoussi, Navinda Kottege, Benjamin Morrell, Marco Hutter 0001, Fred Pauling, François Pomerleau, Martin Saska, Sebastian A. Scherer, Roland Siegwart, Jason L. Williams, Luca Carlone
IEEE Trans. Robotics
A New Wave in Robotics: Survey on Recent MmWave Radar Applications in Robotics
Kyle Harlow, Hyesu Jang, Timothy D. Barfoot, Ayoung Kim, Christoffer Heckman
IEEE Trans. Robotics
ReCAP: Semantic Role Enhanced Caption Generation
Abhidip Bhattacharyya, Martha Palmer, Christoffer Heckman
LREC/COLING
RMap: Millimeter-Wave Radar Mapping Through Volumetric Upsampling
Ajay Narasimha Mopidevi, Kyle Harlow, Christoffer Heckman
IROS
SceneSense: Diffusion Models for 3D Occupancy Synthesis from Partial Observation
Alec Reed, Brendan Crowe, Doncey Albin, Lorin Achey, Bradley Hayes, Christoffer Heckman
IROS
SceneSense: Diffusion Models for 3D Occupancy Synthesis from Partial Observation
Alec Reed, Brendan Crowe, Doncey Albin, Lorin Achey, Bradley Hayes, Christoffer Heckman
CoRR
Radar-Based Localization For Autonomous Ground Vehicles In Suburban Neighborhoods
Andrew Kramer, Christoffer Heckman
CoRR
CogExplore: Contextual Exploration with Language-Encoded Environment Representations
Harel Biggie, Patrick Cooper, Doncey Albin, Kristen Such, Christoffer Heckman
CoRR
Online Diffusion-Based 3D Occupancy Prediction at the Frontier with Probabilistic Map Reconciliation
Alec Reed, Lorin Achey, Brendan Crowe, Bradley Hayes, Christoffer Heckman
CoRR
Foundation Models for Rapid Autonomy Validation
Alec Farid, Peter Schleede, Aaron Huang, Christoffer Heckman
CoRR
2023
Terrain-aware semantic mapping for cooperative subterranean exploration
Michael J. Miles, Harel Biggie, Christoffer Heckman
Frontiers Robotics AI
Flexible Supervised Autonomy for Exploration in Subterranean Environments
Harel Biggie, Eugene R. Rush, Danny G. Riley, Shakeeb Ahmad, Michael Ohradzansky, Kyle Harlow, Michael J. Miles, Daniel Torres, Steve McGuire, Eric W. Frew, Christoffer Heckman, James Sean Humbert
Field Robotics
Tell Me Where to Go: A Composable Framework for Context-Aware Embodied Robot Navigation
Harel Biggie, Ajay Narasimha Mopidevi, Dusty Woods, Christoffer R. Heckman
CoRL
BO-ICP: Initialization of Iterative Closest Point Based on Bayesian Optimization
Harel Biggie, Andrew Beathard, Christoffer Heckman
ICRA
Restorebot: Towards an Autonomous Robotics Platform for Degraded Rangeland Restoration
Kristen Such, Harel Biggie, Christoffer Heckman
ISER
CRAPES:Cross-modal Annotation Projection for Visual Semantic Role Labeling
Abhidip Bhattacharyya, Martha Palmer, Christoffer Heckman
Flexible Supervised Autonomy for Exploration in Subterranean Environments
Harel Biggie, Eugene R. Rush, Danny G. Riley, Shakeeb Ahmad, Michael T. Ohradzansky, Kyle Harlow, Michael J. Miles, Daniel Torres, Steve McGuire, Eric W. Frew, Christoffer Heckman, J. Sean Humbert
CoRR
BO-ICP: Initialization of Iterative Closest Point Based on Bayesian Optimization
Harel Biggie, Andrew Beathard, Christoffer Heckman
CoRR
A New Wave in Robotics: Survey on Recent mmWave Radar Applications in Robotics
Kyle Harlow, Hyesu Jang, Timothy D. Barfoot, Ayoung Kim, Christoffer Heckman
CoRR
Towards Decentralized Heterogeneous Multi-Robot SLAM and Target Tracking
Ofer Dagan, Tycho L. Cinquini, Luke Morrissey, Kristen Such, Nisar R. Ahmed, Christoffer Heckman
CoRR
Looking Around Corners: Generative Methods in Terrain Extension
Alec Reed, Christoffer Heckman
CoRR
Kalman Filter Auto-tuning through Enforcing Chi-Squared Normalized Error Distributions with Bayesian Optimization
Zhaozhong Chen, Harel Biggie, Nisar R. Ahmed, Simon Julier, Christoffer Heckman
CoRR
Tell Me Where to Go: A Composable Framework for Context-Aware Embodied Robot Navigation
Harel Biggie, Ajay Narasimha Mopidevi, Dusty Woods, Christoffer Heckman
CoRR
A Population-Level Analysis of Neural Dynamics in Robust Legged Robots
Eugene R. Rush, Christoffer Heckman, Kaushik Jayaram, J. Sean Humbert
CoRR
RMap: Millimeter-Wave Radar Mapping Through Volumetric Upsampling
Ajay Narasimha Mopidevi, Kyle Harlow, Christoffer Heckman
CoRR
Restorebot: Towards an Autonomous Robotics Platform for Degraded Rangeland Restoration
Kristen Such, Harel Biggie, Christoffer Heckman
CoRR
2022
Multi-Agent Autonomy: Advancements and Challenges in Subterranean Exploration
Michael Ohradzansky, Eugene R. Rush, Danny G. Riley, Andrew B. Mills, Shakeeb Ahmad, Steve McGuire, Harel Biggie, Kyle Harlow, Michael J. Miles, Eric W. Frew, Christoffer Heckman, James Sean Humbert
Field Robotics
ColoRadar: The direct 3D millimeter wave radar dataset
Andrew Kramer, Kyle Harlow, Christopher R. Williams, Christoffer Heckman
Int. J. Robotics Res.
Verified Path Following Using Neural Control Lyapunov Functions
Alec Reed, Guillaume O. Berger, Sriram Sankaranarayanan 0001, Christoffer Heckman
CoRL
Aligning Images and Text with Semantic Role Labels for Fine-Grained Cross-Modal Understanding
Abhidip Bhattacharyya, Cecilia Mauceri, Martha Palmer, Christoffer Heckman
LREC
Present and Future of SLAM in Extreme Underground Environments
Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee 0002, Christopher E. Denniston, Simon-Pierre Deschênes, Kyle Harlow, Shehryar Khattak, Lucas Nogueira, Matteo Palieri, Pavel Petrácek, Matej Petrlík, Andrzej Reinke, Vít Krátký, Shibo Zhao, Ali-akbar Agha-mohammadi, Kostas Alexis, Christoffer Heckman, Kasra Khosoussi, Navinda Kottege, Benjamin Morrell, Marco Hutter 0001, Fred Pauling, François Pomerleau, Martin Saska, Sebastian A. Scherer, Roland Siegwart, Jason L. Williams, Luca Carlone
CoRR
2021
Formalizing and guaranteeing human-robot interaction
Hadas Kress-Gazit, Kerstin Eder, Guy Hoffman, Henny Admoni, Brenna Argall, Rüdiger Ehlers, Christoffer Heckman, Nils Jansen 0001, Ross A. Knepper, Jan Kretínský, Shelly Levy-Tzedek, Jamy Li, Todd D. Murphey, Laurel D. Riek, Dorsa Sadigh
Commun. ACM
Human-Aware Reinforcement Learning for Fault Recovery Using Contextual Gaussian Processes
Steve McGuire, P. Michael Furlong, Christoffer Heckman, Simon Julier, Nisar R. Ahmed
J. Aerosp. Inf. Syst.
A Real-Time State Dependent Region Estimator for Autonomous Endoscope Navigation
Joseph Micah Prendergast, Gregory A. Formosa, Mitchell J. Fulton, Christoffer R. Heckman, Mark E. Rentschler
IEEE Trans. Robotics
Time Dependence in Kalman Filter Tuning
Zhaozhong Chen, Christoffer Heckman, Simon Julier, Nisar R. Ahmed
FUSION
Robust Pose Estimation Based on Normalized Information Distance
Zhaozhong Chen, Christoffer Heckman
IROS
A Mixed Reality Supervision and Telepresence Interface for Outdoor Field Robotics
Michael E. Walker, Zhaozhong Chen, Matthew Whitlock, David Blair, Danielle Albers Szafir, Christoffer Heckman, Daniel Szafir
IROS
Deformable Bayesian Convolutional Networks for Disease-Robust Cardiac MRI Segmentation
Mitchell J. Fulton, Christoffer R. Heckman, Mark E. Rentschler
STACOM@MICCAI
ColoRadar: The Direct 3D Millimeter Wave Radar Dataset
Andrew Kramer, Kyle Harlow, Christopher Williams, Christoffer Heckman
CoRR
Time Dependence in Kalman Filter Tuning
Zhaozhong Chen, Christoffer Heckman, Simon Julier, Nisar R. Ahmed
CoRR
Multi-Agent Autonomy: Advancements and Challenges in Subterranean Exploration
Michael T. Ohradzansky, Eugene R. Rush, Danny G. Riley, Andrew B. Mills, Shakeeb Ahmad, Steve McGuire, Harel Biggie, Kyle Harlow, Michael J. Miles, Eric W. Frew, Christoffer Heckman, J. Sean Humbert
CoRR
2020
Distributed Reinforcement Learning for Cooperative Multi-Robot Object Manipulation
Guohui Ding 0002, Joewie J. Koh, Kelly Merckaert, Bram Vanderborght, Marco M. Nicotra, Christoffer Heckman, Alessandro Roncone, Lijun Chen 0001
AAMAS
Unsupervised Metric Relocalization Using Transform Consistency Loss
Mike Kasper, Fernando Nobre, Christoffer Heckman, Nima Keivan
CoRL
Radar-Inertial Ego-Velocity Estimation for Visually Degraded Environments
Andrew Kramer, Carl Stahoviak, Angel Santamaria-Navarro, Ali-akbar Agha-mohammadi, Christoffer Heckman
ICRA
Better Together: Online Probabilistic Clique Change Detection in 3D Landmark-Based Maps
Samuel Bateman, Kyle Harlow, Christoffer Heckman
IROS
Cooperative Control of Mobile Robots with Stackelberg Learning
Joewie J. Koh, Guohui Ding 0002, Christoffer Heckman, Lijun Chen 0001, Alessandro Roncone
IROS
Radar-Inertial State Estimation and Obstacle Detection for Micro-Aerial Vehicles in Dense Fog
Andrew Kramer, Christoffer Heckman
ISER
Leveraging Non-Specialists for Accurate and Time Efficient AMR Annotation
Mary Martin, Cecilia Mauceri, Martha Palmer, Christoffer Heckman
CLLRD@LREC
Distributed Reinforcement Learning for Cooperative Multi-Robot Object Manipulation
Guohui Ding 0002, Joewie J. Koh, Kelly Merckaert, Bram Vanderborght, Marco M. Nicotra, Christoffer Heckman, Alessandro Roncone, Lijun Chen 0001
CoRR
Formalizing and Guaranteeing* Human-Robot Interaction
Hadas Kress-Gazit, Kerstin Eder, Guy Hoffman, Henny Admoni, Brenna Argall, Rüdiger Ehlers, Christoffer Heckman, Nils Jansen 0001, Ross A. Knepper, Jan Kretínský, Shelly Levy-Tzedek, Jamy Li, Todd D. Murphey, Laurel D. Riek, Dorsa Sadigh
CoRR
Better Together: Online Probabilistic Clique Change Detection in 3D Landmark-Based Maps
Samuel Bateman, Kyle Harlow, Christoffer Heckman
CoRR
Cooperative Control of Mobile Robots with Stackelberg Learning
Joewie J. Koh, Guohui Ding 0002, Christoffer Heckman, Lijun Chen 0001, Alessandro Roncone
CoRR
Unsupervised Metric Relocalization Using Transform Consistency Loss
Mike Kasper, Fernando Nobre, Christoffer Heckman, Nima Keivan
CoRR
2019
Materials that make robots smart
Dana Hughes 0001, Christoffer Heckman, Nikolaus Correll
Int. J. Robotics Res.
Learning to calibrate: Reinforcement learning for guided calibration of visual-inertial rigs
Fernando Nobre, Christoffer Heckman
Int. J. Robotics Res.
Everybody Needs Somebody Sometimes: Validation of Adaptive Recovery in Robotic Space Operations
Steve McGuire, P. Michael Furlong, Terry Fong, Christoffer Heckman, Daniel Szafir, Simon J. Julier, Nisar R. Ahmed
IEEE Robotics Autom. Lett.
Multiple Point Light Estimation from Low-Quality 3D Reconstructions
Mike Kasper, Christoffer Heckman
3DV
VI-SLAM for Subterranean Environments
Andrew Kramer, Mike Kasper, Christoffer Heckman
FSR
Scalable Event-Triggered Data Fusion for Autonomous Cooperative Swarm Localization
Ian Loefgren, Nisar R. Ahmed, Eric W. Frew, Christoffer Heckman, J. Sean Humbert
FUSION
SUN-Spot: An RGB-D Dataset With Spatial Referring Expressions
Cecilia Mauceri, Martha Palmer, Christoffer Heckman
ICCV Workshops
Robust low-overlap 3-D point cloud registration for outlier rejection
John Stechschulte, Nisar R. Ahmed, Christoffer Heckman
ICRA
A Benchmark for Visual-Inertial Odometry Systems Employing Onboard Illumination
Mike Kasper, Steve McGuire, Christoffer Heckman
IROS
Embedded Neural Networks for Robot Autonomy
Sarah Aguasvivas Manzano, Dana T. Hughes, Cooper R. Simpson, Radhen Patel, Christoffer Heckman, Nikolaus Correll
ISRR
SUN-Spot Referring Expressions Dataset
Cecilia Mauceri, Martha Palmer, Christoffer Heckman
Zenodo
FastCal: Robust Online Self-Calibration for Robotic Systems
Fernando Nobre, Christoffer Heckman
CoRR
Kalman Filter Tuning with Bayesian Optimization
Zhaozhong Chen, Nisar R. Ahmed, Simon Julier, Christoffer Heckman
CoRR
2018
Failure is Not an Option: Policy Learning for Adaptive Recovery in Space Operations
Steve McGuire, P. Michael Furlong, Christoffer Heckman, Simon Julier, Daniel Szafir, Nisar R. Ahmed
IEEE Robotics Autom. Lett.
Weak in the NEES?: Auto-Tuning Kalman Filters with Bayesian Optimization
Zhaozhong Chen, Christoffer Heckman, Simon Julier, Nisar R. Ahmed
FUSION
Online System Identification and Calibration of Dynamic Models for Autonomous Ground Vehicles
Sina Aghli, Christoffer Heckman
ICRA
Online Probabilistic Change Detection in Feature-Based Maps
Fernando Nobre, Christoffer R. Heckman, Paul Ozog, Ryan W. Wolcott, Jeffrey M. Walls
ICRA
Game-Theoretic Cooperative Lane Changing Using Data-Driven Models
Guohui Ding 0002, Sina Aghli, Christoffer Heckman, Lijun Chen 0001
IROS
Autonomous Localization, Navigation and Haustral Fold Detection for Robotic Endoscopy
Joseph Micah Prendergast, Gregory A. Formosa, Christoffer R. Heckman, Mark E. Rentschler
IROS
Path-Following through Control Funnel Functions
Hadi Ravanbakhsh, Sina Aghli, Christoffer Heckman, Sriram Sankaranarayanan 0001
IROS
FastCal: Robust Online Self-calibration for Robotic Systems
Fernando Nobre, Christoffer R. Heckman
ISER
Path-Following through Control Funnel Functions
Hadi Ravanbakhsh, Sina Aghli, Christoffer Heckman, Sriram Sankaranarayanan 0001
CoRR
Weak in the NEES?: Auto-tuning Kalman Filters with Bayesian Optimization
Zhaozhong Chen, Christoffer Heckman, Simon Julier, Nisar R. Ahmed
CoRR
Extrinisic Calibration of a Camera-Arm System Through Rotation Identification
Steve McGuire, Christoffer Heckman, Daniel Szafir, Simon Julier, Nisar R. Ahmed
CoRR
2017
Drift-correcting self-calibration for visual-inertial SLAM
Fernando Nobre, Michael Kasper, Christoffer R. Heckman
ICRA
Materials That Make Robots Smart
Nikolaus Correll, Christoffer Heckman
ISRR
Reinforcement Learning for Assisted Visual-Inertial Robotic Calibration
Fernando Nobre, Christoffer Heckman
ISRR
Light Source Estimation with Analytical Path-tracing
Mike Kasper, Nima Keivan, Gabe Sibley, Christoffer R. Heckman
CoRR
Materials that make robots smart
Nikolaus Correll, Christoffer R. Heckman
CoRR
Hidden Markov Random Field Iterative Closest Point
John Stechschulte, Christoffer Heckman
CoRR
2016
Light Source Estimation in Synthetic Images
Mike Kasper, Nima Keivan, Gabe Sibley, Christoffer R. Heckman
ECCV Workshops
Multi-Sensor SLAM with Online Self-Calibration and Change Detection
Fernando Nobre, Christoffer R. Heckman, Gabe T. Sibley
ISER
2015
Toward efficient navigation in uncertain gyre-like flows
Christoffer R. Heckman, Ira B. Schwartz, M. Ani Hsieh
Int. J. Robotics Res.
Small and Adrift with Self-Control: Using the Environment to Improve Autonomy
M. Ani Hsieh, Hadi Hajieghrary, Dhanushka Kularatne, Christoffer R. Heckman, Eric Forgoston, Ira B. Schwartz, Philip A. Yecko
ISRR
2014
Controlling Basin Breakout for Robots Operating in Uncertain Flow Environments
Christoffer R. Heckman, M. Ani Hsieh, Ira B. Schwartz
ISER