Publications
See Prof. Waslander's Google Scholar page for more complete listings and previously published work.
2025
Active 6D Pose Estimation for Textureless Objects using Multi-View RGB Frames
Jun Yang, Wenjie Xue, Sahar Ghavidel, Steven L. Waslander
The International Journal of Robotics Research (IJRR), 2026.
Deployable and Generalizable Motion Prediction: Taxonomy, Open Challenges, and Future Directions
Letian Wang, Marc-Antoine Lavoie, Sandro Papais, Barza Nisar, Yuxiao Chen, Wenhao Ding, Boris Ivanovic, Hao Shao, Abulikemu Abuduweili, Evan Cook, Yang Zhou, Peter Karkus, Jiachen Li, Changliu Liu, Marco Pavone, Steven Waslander
Foundation and Trends in Robotics, 2026.
A Photorealistic Dataset and Vision-Based Algorithm for Anomaly Detection During Proximity Operations in Lunar Orbit
Selina Leveugle, Chang Won Lee, Svetlana Stolpner, Chris Langley, Paul Grouchy, Steven Waslander, Jonathan Kelly
IEEE Robotics and Automation Letters (RA-L), 2026.
SCATR: Mitigating New Instance Suppression in LiDAR-based Tracking-by-Attention via Second Chance Assignment and Track Query Dropout
Brian Cheong, Letian Wang, Sandro Papais, Steven L. Waslander
Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), 2026.
FlowCLAS: Enhancing Normalizing Flow-Based Anomaly Segmentation Via Contrastive Learning
Chang Won Lee, Selina Leveugle, Paul Grouchy, Chris Langley, Svetlana Stolpner, Jonathan Kelly, Steven L. Waslander
Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), 2026.
ForeSight: Multi-View Streaming Joint Object Detection and Trajectory Forecasting
Sandro Papais, Letian Wang, Brian Cheong, Steven L. Waslander
Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV), 2025.
OpenNav: Open-World Navigation with Multimodal Large Language Models
Mingfeng Yuan, Letian Wang, Steven L. Waslander
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025.
Large Self-Supervised Models Bridge the Gap in Domain Adaptive Object Detection
Marc-Antoine Lavoie, Anas Mahmoud, Steven L. Waslander
Proceedings of the IEEE conference on computer vision and pattern recognition (CVPR), 2025.
PSA-SSL: Pose and Size-Aware Self-Supervised Learning for 3D Point Clouds
Barza Nisar, Steven L. Waslander
Proceedings of the IEEE conference on computer vision and pattern recognition (CVPR), 2025.
SmartPretrain: Model-Agnostic and Dataset-Agnostic Representation Learning for Motion Prediction
Yang Zhou, Hao Shao, Letian Wang, Steven L. Waslander, Hongsheng Li, Yu Liu
International Conference on Learning Representations (ICLR), 2025.
2024
DistillNeRF: Perceiving 3D Scenes from Single-Glance Images by Distilling Neural Fields and Foundation Model Features
Letian Wang, Seung Wook Kim, Jiawei Yang, Cunjun Yu, Boris Ivanovic, Steven L. Waslander, Yue Wang, Sanja Fidler, Marco Pavone, Peter Karkus
Advances in Neural Information Processing Systems (NeurIPS), 2024.
Toward General Object-level Mapping from Sparse Views with 3D Diffusion Priors
Ziwei Liao, Binbin Xu, Steven L. Waslander
8th Annual Conference on Robot Learning (CoRL), 2024.
Active Pose Refinement for Textureless Shiny Objects using the Structured Light Camera
Jun Yang, Jian Yao, Steven L. Waslander
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.
Image-to-Lidar Relational Distillation for Autonomous Driving Data
Anas Mahmoud, Ali Harakeh, Steven Waslander
European Conference on Computer Vision (ECCV), 2024.
JDT3D: Addressing the Gaps in LiDAR-Based Tracking-by-Attention
Brian Cheong, Jiachen Zhou, Steven Waslander
European Conference on Computer Vision (ECCV), 2024.
LMDrive: Closed-Loop End-to-End Driving with Large Language Models
Hao Shao, Yuxuan Hu, Letian Wang, Steven L. Waslander, Yu Liu, Hongsheng Li
Proceedings of the IEEE conference on computer vision and pattern recognition (CVPR), 2024.
Multiple View Geometry Transformers for 3D Human Pose Estimation
Ziwei Liao, Jialiang Zhu, Chunyu Wang, Han Hu, Steven L. Waslander
Proceedings of the IEEE conference on computer vision and pattern recognition (CVPR), 2024.
SmartRefine: A Scenario-Adaptive Refinement Framework for Efficient Motion Prediction
Yang Zhou, Hao Shao, Letian Wang, Steven L. Waslander, Hongsheng Li, Yu Liu
Proceedings of the IEEE conference on computer vision and pattern recognition (CVPR), 2024.
Uncertainty-aware 3D Object-Level Mapping with Deep Shape Priors
Ziwei Liao*, Jun Yang*, Jingxing Qian*, Angela P Schoellig, Steven L. Waslander
International Conference on Robotics and Automation (ICRA), 2024
SWTrack: Multiple Hypothesis Sliding Window 3D Multi-Object Tracking
Sandro Papais, Robert Ren, Steven L. Waslander
International Conference on Robotics and Automation (ICRA), 2024
UncertaintyTrack: Exploiting Detection and Localization Uncertainty in Multi-Object Tracking
Chang Won Lee, Steven L. Waslander
International Conference on Robotics and Automation (ICRA), 2024
2023
Active Pose Refinement for Textureless Shiny Objects using the Structured Light Camera
Jun Yang, Jian Yao, Steven L Waslander
IEEE Sensors Journal, submitted, 2024
Multi-view 3D Object Reconstruction and Uncertainty Modelling with Neural Shape Prior
Ziwei Liao, Steven L Waslander
Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), 2024
Efficient Reinforcement Learning for Autonomous Driving with Parameterized Skills and Priors
Letian Wang, Jie Liu, Hao Shao, Wenshuo Wang, Ruobing Chen, Yu Liu, Steven L Waslander
Robotics: Science and Systems (RSS), 2023
POV-SLAM: Probabilistic Object-Aware Variational SLAM in Semi-Static Environments
Jingxing Qian, Veronica Chatrath, James Servos, Aaron Mavrinac, Wolfram Burgard, Steven L Waslander, Angela P Schoellig
Robotics: Science and Systems (RSS), 2023
Self-Supervised Image-to-Point Distillation via Semantically Tolerant Contrastive Loss
Anas Mahmoud, Jordan SK Hu, Tianshu Kuai, Ali Harakeh, Liam Paull, Steven L Waslander
Proceedings of the IEEE conference on computer vision and pattern recognition (CVPR), 2023.
ReasonNet: End-to-End Driving with Temporal and Global Reasoning
Hao Shao, Letian Wang, Ruobing Chen, Steven Waslander, Hongsheng Li, Yu Liu
Proceedings of the IEEE conference on computer vision and pattern recognition (CVPR), 2023.
ProPanDL: A Modular Architecture for Uncertainty-Aware Panoptic Segmentation
Jacob Deery, Chang Won Lee, Steven Waslander
20th Conference on Robots and Vision (CRV). IEEE, 2023.
Gradient-based Maximally Interfered Retrieval for Domain Adaptive 3D Object Detection
Barza Nisar, Hruday Vishal Kanna Anand, Steven L. Waslander
20th Conference on Robots and Vision (CRV). IEEE, 2023.
HyperMODEST: Self-Supervised 3D Object Detection with Confidence Score Filtering
Jenny Xu, Steven L. Waslander
20th Conference on Robots and Vision (CRV). IEEE, 2023.
Next-Best-View Selection for Robot Eye-in-Hand Calibration
Jun Yang, Jason Rebello, Steven L Waslander
20th Conference on Robots and Vision (CRV). IEEE, 2023.
Intertrack: Interaction transformer for 3d multi-object tracking
J Willes, C Reading, SL Waslander
20th Conference on Robots and Vision (CRV). IEEE, 2023.
aUToLights: A Robust Multi-Camera Traffic Light Detection and Tracking System
Sean Wu, Nicole Amenta, Jiachen (Jason) Zhou, Sandro Papais and Jonathan Kelly
20th Conference on Robots and Vision (CRV). IEEE, 2023.
6D Pose Estimation for Textureless Objects on RGB Frames using Multi-View Optimization
Jun Yang, Wenjie Xue, Sahar Ghavidel, and Steven L. Waslander
International Conference on Robotics and Automation (ICRA), 2023.
Estimating Regression Predictive Distributions with Sample Networks
Ali Harakeh, Jordan Hu, Naiqing Guan, Steven L. Waslander, and Liam Paull
In Proceedings of the AAAI Conference on Artificial Intelligence, 2023.
Dense Voxel Fusion for 3D Object Detection
Anas Mahmoud, and Steven L. Waslander
Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision, 2023.
2022
Bayesian Embeddings for Few-Shot Open World Recognition
Willes, John, James Harrison, Ali Harakeh, Chelsea Finn, Marco Pavone, and Steven Waslander
IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), 2022.
Temporal convolutions for multi-step quadrotor motion prediction
Looper, Samuel, and Steven L. Waslander
19th Conference on Robots and Vision (CRV), pp. 32-39. IEEE, 2022.
POCD: Probabilistic Object-Level Change Detection and Volumetric Mapping in Semi-Static Scenes
Jingxing Qian, Veronica Chatrath, Jun Yang, James Servos, Angela P Schoellig, Steven L Waslander
Robotics: Science and Systems. 2022.
Next-Best-View Prediction for Active Stereo Cameras and Highly Reflective Objects
Jun Yang, and Steven L. Waslander
International Conference on Robotics and Automation (ICRA), 2022.
Point Density-Aware Voxels for LiDAR 3D Object Detection
Jordan SK Hu, and Steven L. Waslander
Proceedings of the IEEE conference on computer vision and pattern recognition (CVPR), 2022.
LiDAR-MIMO: Efficient Uncertainty Estimation for LiDAR-based 3D Object Detection
Matthew Pitropov, Chengjie Huang, Vahdat Abdelzad, Krzysztof Czarnecki, and Steven Waslander
arXiv preprint arXiv:2206.00214.
Accurate Prediction and Uncertainty Estimation using Decoupled Prediction Interval Networks
Kinjal Patel, and Steven L. Waslander
arXiv preprint arXiv:2202.09664, 2022.
2021
DC-VINS: Dynamic Camera Visual Inertial Navigation System With Online Calibration
Jason Rebello, Chunshang Li, and Steven L. Waslander
Proceedings of the IEEE/CVF International Conference on Computer Vision Workshop (ICCVW), 2021.
UrbanNet: Leveraging Urban Maps for Long Range 3D Object Detection
Juan Carrillo, and Steven L. Waslander
IEEE International Intelligent Transportation Systems Conference (ITSC), 2021.
Pattern-Aware Data Augmentation for LiDAR 3D Object Detection
Jordan SK Hu, and Steven L. Waslander
IEEE International Intelligent Transportation Systems Conference (ITSC), 2021.
Sequential Fusion via Bounding Box and Motion PointPainting for 3D Objection Detection
Anas Mahmoud, and Steven L. Waslander
IEEE Conference on Robots and Vision (CRV, Best Paper), 2021.
A review and comparative study on probabilistic object detection in autonomous driving
Di Feng, Ali Harakeh, Steven L. Waslander, Klaus Dietmayer
IEEE Transactions on Intelligent Transportation Systems (T-ITS), 2021.
ROBI: A Multi-View Dataset for Reflective Objects in Robotic Bin-Picking
Jun Yang, Yizhou Gao, Dong Li, and Steven L. Waslander
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
Categorical Depth Distribution Network for Monocular 3D Object Detection
Cody Reading, Ali Harakeh, Julia Chae, and Steven L. Waslander
Proceedings of the IEEE conference on computer vision and pattern recognition (CVPR Oral), 2021.
Estimating and Evaluating Regression Predictive Uncertainty in Deep Object Detectors
Ali Harakeh, Steven L. Waslander
International Conference on Learning Representations (ICLR), 2021.
Uncertainty-Constrained Differential Dynamic Programming in Belief Space for Vision Based Robots
Shatil Rahman, and Steven L. Waslander
IEEE Robotics and Automation Letters (RA-L), 2021 ​
Probabilistic Multi-View Fusion of Active Stereo Depth Maps for Robotic Bin-Picking
Jun Yang, Dong Li, and Steven L. Waslander
IEEE Robotics and Automation Letters (RA-L), 2021 ​
Learned Camera Gain and Exposure Control for Improved Visual Feature Detection and Matching
Justin Tomasi , Brandon Wagstaff , Steven L. Waslander, and Jonathan Kelly
IEEE Robotics and Automation Letters (RA-L), 2021 ​
Canadian adverse driving conditions dataset
Matthew Pitropov, Danson Evan Garcia, Jason Rebello, Michael Smart, Carlos Wang, Krzysztof Czarnecki, Steven L. Waslander
The International Journal of Robotics Research (IJRR), 2021 ​
2020
Making Sense of the Robotized Pandemic Response: A Comparison of Global and Canadian Robot Deployments and Success Factors
T Barfoot, J Burgner-Kahrs, E Diller, A Garg, A Goldenberg, J Kelly, X Liu, HE Naguib, G Nejat, AP Schoellig, F Shkurti, H Siegel, Y Sun, SL Waslander
arXiv preprint arXiv:2009.08577, 2020.
Towards End-to-end Learning of Visual Inertial Odometry with an EKF
Chunshang Li and S.L. Waslander
Conference on Computer and Robot Vision (CRV), 2020
Leveraging Temporal Data for Automatic Labelling of Static Vehicles
Sean Walsh, Jason Ku, Alex D. Pon and S.L. Waslander
Conference on Computer and Robot Vision (CRV), 2020
Feedback Linearizing Controllers on SO (3) using a Global Parametrization
Akhtar, Adeel, Sajid Saleem, and Steven L. Waslander
American Control Conference (ACC), 2020
Vehicle Scheduling Problem
Gharibi, Mirmojtaba, Steven L. Waslander, and Raouf Boutaba
IEEE Transactions on Intelligent Transportation Systems (Submitted), 2020.
Confidence Guided Stereo 3D Object Detection with Split Depth Estimation
Chengyao Li, Jason Ku, Steven L. Waslander
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
3D traffic flow model for UAVs
Gharibi, Mirmojtaba, Raouf Boutaba, and Steven L. Waslander
IEEE Transactions on Intelligent Transportation Systems (Submitted), 2020.
Controller Class for Rigid Body Tracking on SO (3)
Akhtar, Adeel, and Steven Waslander
IEEE Transactions on Automatic Control, 2020.
An end-to-end shape modeling framework for vectorized building outline generation from aerial images
Chen, Qi and Wang, Lei and Waslander, Steven L and Liu, Xiuguo
ISPRS Journal of Photogrammetry and Remote Sensing, 2020.
Path Following for a Class of Underactuated Systems Using Global Parameterization
Akhtar, Adeel, Sajid Saleem, and Steven L. Waslander
IEEE Access, 2020.
Bayesod: A bayesian approach for uncertainty estimation in deep object detectors
A. Harakeh, M. Smart, and S. L. Waslander
International Conference on Robotics and Automation (ICRA), 2020
Object-Centric Stereo Matching for 3D Object Detection
A.D. Pon, J. Ku, C. Li, S.L. Waslander
International Conference on Robotics and Automation (ICRA), 2020
AC/DCC : Accurate Calibration of Dynamic Camera Clusters for Visual SLAM
J. Rebello, A. Fung, and S.L. Waslander
International Conference on Robotics and Automation (ICRA), 2020
TruPercept: Trust Modelling for Autonomous Vehicle Cooperative Perception from Synthetic Data
B. Hurl, R. Cohen, K. Czarnecki, S. L. Waslander
Intelligent Vehicles Conference, 2020
2019
Monocular 3D Object Detection Leveraging Accurate Proposals and Shape Reconstruction
J. Ku*, A. D. Pon*, and S. L. Waslander
IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2019.
aUToTrack: A Lightweight Object Detection and Tracking System for the SAE AutoDrive Challenge
K. Burnett, S. Samavi, S. L. Waslander, T. D. Barfoot, A. P. Schoellig
Conference on Computer and Robot Vision (CRV), 2019 ​
Automated Bridge Inspection Using Mobile Ground Robotics
N. Charron, E. McLaughlin, S. Phillips, K. Goorts, S. Narasimhan, S. L. Waslander
Journal of Structural Engineering, 2019
Multistep prediction of dynamic systems with recurrent neural networks
N. Mohajerin and S. L. Waslander
IEEE Transactions on Neural Networks and Learning Systems, 2019
Aerial imagery for roof segmentation: A large-scale dataset towards automatic mapping of buildings
Q. Chen, L. Wang, Y. Wu, G. Wu, Z. Guo, and S. L. Waslander
ISPRS Journal of Photogrammetry and Remote Sensing, 2019
Visual Measurement Integrity Monitoring for UAV Localization
C.Li, S.L. Waslander
IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2019
Improving 3D Object Detection for Pedestrians with Virtual Multi-View Synthesis Orientation Estimation
J. Ku, A. D. Pon, S. Walsh, and S. L. Waslander
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
Precise Synthetic Image and LiDAR (PreSIL) Dataset for Autonomous Vehicle Perception
B. Hurl, K. Czarnecki, S. Waslander
IEEE Intelligent Vehicles Symposium (IV), 2019
Network uncertainty informed semantic feature selection for visual SLAM
P. Ganti and S. L. Waslander
Conference on Computer and Robot Vision (CRV), 2019
Map-aided adaptive GNSS/IMU sensor fusion scheme for robust urban navigation
Mohamed M. Atia, and S. L. Waslander
Measurement, 2019
2018
Unlimited road-scene synthetic annotation (URSA) dataset
M. Angus, M. El Balkini, S. Khan, A. Harakeh, O. Andrienko, C. Reading, S. L. Waslander, and K. Czarnecki
International Conference on Intelligent Transportation Systems (ITSC), 2018 ​
Leveraging pre-trained 3d object detection models for fast ground truth generation
J. Lee, S. Walsh, A. Harakeh, and S. L. Waslander
International Conference on Intelligent Transportation Systems (ITSC), 2018 ​
Speed planning for autonomous driving via convex optimisation
Y. Zhang, H. Chen, S. Waslander, T. Yang, S. Zhang, G. Xiong, and K. Liu
International Conference on Intelligent Transportation Systems (ITSC), 2018 ​
Hybrid trajectory planning for autonomous driving in highly constrained environments
Y. Zhang, H.-Y. Chen, S. L. Waslander, J.-W. Gong, G.-M. Xiong, T. Yang, and K. Liu
IEEE Access, vol. 6, pp. 32 800–32 819, 2018
Joint 3d proposal generation and object detection from view aggregation
J. Ku, M. Mozifian, J. Lee, A. Harakeh, and S. L. Waslander
International Conference on Intelligent Robots and Systems (IROS), 2018
De-noising of lidar point clouds corrupted by snowfall
N. Charron, S. Phillips, and S. L. Waslander
Conference on Computer and Robot Vision (CRV), 2018.
Encoderless gimbal calibration of dynamic multi-camera clusters
C. L. Choi, J. Rebello, L. Koppel, P. Ganti, A. Das, and S. L. Waslander
International Conference on Robotics and Automation (ICRA), 2018 ​
Manifold geometry with fast automatic derivatives and coordinate frame semantics checking in c++
L. Koppel and S. L. Waslander
Conference on Computer and Robot Vision (CRV, Best Paper), 2018.
In defense of classical image processing: Fast depth completion on the cpu
J. Ku, A. Harakeh, and S. L. Waslander
Conference on Computer and Robot Vision (CRV), 2018
Deep learning a quadrotor dynamic model for multi-step prediction
N. Mohajerin, M. Mozifian, and S. L. Waslander
International Conference on Robotics and Automation (ICRA), 2018
A hierarchical deep architecture and mini-batch selection method for joint traffic sign and light detection
A. Pon, O. Andrienko, A. Harakeh, and S. L. Waslander
Conference on Computer and Robot Vision (CRV), 2018 ​