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Turcan Tuna

6 accepted papers

2026

BIEVR-LIO: Robust LiDAR-Inertial Odometry through Bump-Image-Enhanced Voxel Maps

Patrick Pfreundschuh, Turcan Tuna, Cedric Le Gentil, Roland Siegwart, Cesar Cadena, Helen Oleynikova
RSS 2026poster

Reliable odometry is essential for mobile robots as they increasingly enter more challenging environments, which often contain little information to constrain point cloud registration, resulting in degraded LiDAR–Inertial Odometry (LIO) accuracy or even divergence. To address this, we present BIEVR-…

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2026

Informed, Constrained, Aligned: A Field Analysis on Degeneracy-Aware Point Cloud Registration in the Wild (I)

Turcan Tuna, Julian Nubert, Patrick Pfreundschuh, Cesar Cadena, Shehryar Khattak, Marco Hutter
ICRA 2026poster

The iterative closest point registration algorithm has been a preferred method for light detection and ranging LiDAR-based robot localization for nearly a decade. However, even in modern simultaneous localization and mapping (SLAM) solutions, ICP can degrade and become unreliable in geometrically il…

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2025

Boxi: Design Decisions in the Context of Algorithmic Performance for Robotics

Jonas Frey, Turcan Tuna, Lanke Frank Tarimo Fu, Cedric Weibel, Katharine Patterson, Benjamin Krummenacher +5
RSS 2025poster

Achieving robust autonomy in mobile robots operating in complex, unstructured environments requires a multimodal sensor suite capable of capturing diverse and complementary information. However, designing such a sensor suite involves multiple critical design decisions, such as sensor selection, comp…

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2025

ForestLPR: LiDAR Place Recognition in Forests Attentioning Multiple BEV Density Images

Yanqing Shen, Turcan Tuna, Marco Hutter, Cesar Cadena, Nanning Zheng
CVPR 2025highlight

Place recognition is essential to maintain global consistency in large-scale localization systems. While research in urban environments has progressed significantly using LiDARs or cameras, applications in natural forest-like environments remain largely underexplored. Furthermore, forests present pa…

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2025

LEVA: A High-Mobility Logistic Vehicle with Legged Suspension

Marco Arnold, Lukas Hildebrandt, Kaspar Janssen, Efe Ongan, Pascal Bürge, Ádám Gyula Gábriel +12
ICRA 2025

The autonomous transportation of materials over challenging terrain is a challenge with major economic implications and remains unsolved. This paper introduces LEVA, a high-payload, high-mobility robot designed for autonomous logistics across varied terrains, including those typical in agriculture,

Cited by 5Source ↗Scholar ↗