Daniel Casado Herraez

External PhD Student
Contact:
Email: daniel.casado.herraez@nullcariad.technology
Company:
CARIAD

Research Interests

  • Autonomous Driving
  • RADAR Data Interpretation
  • Machine Learning

Publications

2025

  • L. Schwarzer, M. Zeller, D. Casado Herraez, D. Simon, M. Heidingsfeld, and C. Stachniss, “Self-Supervised Moving Object Segmentation of Sparse and Noisy Radar Point Clouds,” in In Proc.~of the Intl.~Conf.~on Intelligent Transportation Systems (ITSC), 2025.
    [BibTeX] 
    @inproceedings{schwarzer2025itsc,
author = {L. Schwarzer and M. Zeller and Casado Herraez, D. and D. Simon and M. Heidingsfeld and C. Stachniss},
title = {{Self-Supervised Moving Object Segmentation of Sparse and Noisy Radar Point Clouds}},
booktitle = {In Proc.~of the Intl.~Conf.~on Intelligent Transportation Systems (ITSC)},
year = 2025,
}

  • D. Casado Herraez, M. Zeller, D. Wang, J. Behley, M. Heidingsfeld, and C. Stachniss, “RaI-SLAM: Radar-Inertial SLAM for Autonomous Vehicles,” IEEE Robotics and Automation Letters (RA-L), vol. 10, iss. 6, pp. 5257-5264, 2025. doi:10.1109/LRA.2025.3557296
    [BibTeX] [PDF] 
    @article{casado-herraez2025ral,
author = {Casado Herraez, D. and M. Zeller and D. Wang and J. Behley and M. Heidingsfeld and C. Stachniss},
title = {{RaI-SLAM: Radar-Inertial SLAM for Autonomous Vehicles}},
journal = ral,
year = {2025},
volume = {10},
number = {6},
pages = {5257-5264},
issn = {2377-3766},
doi = {10.1109/LRA.2025.3557296},
url = {https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/casadoherraez2025ral.pdf}
}

  • D. Casado Herraez, F. Kaschner, M. Zeller, D. Muhle, J. Behley, M. Heidingsfeld, D. Cremers, and C. Stachniss, “Ground-Aware Automotive Radar Odometry,” in Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA), 2025.
    [BibTeX] [PDF] 
    @inproceedings{casado-herraez2025icra,
author = {Casado Herraez, D. and F. Kaschner and M. Zeller and D. Muhle and J. Behley and M. Heidingsfeld and D. Cremers and Stachniss, C.},
title = {{Ground-Aware Automotive Radar Odometry}},
booktitle = icra,
year = {2025}
}

  • M. Zeller, D. Casado Herraez, B. Ayan, J. Behley, M. Heidingsfeld, and C. Stachniss, “SemRaFiner: Panoptic Segmentation in Sparse and Noisy Radar Point Clouds,” IEEE Robotics and Automation Letters (RA-L), vol. 10, iss. 2, p. 923–930, 2025. doi:10.1109/LRA.2024.3502058
    [BibTeX] [PDF] 
    @article{zeller2025ral,
author = {M. Zeller and Casado Herraez, D. and B. Ayan and J. Behley and M. Heidingsfeld and C. Stachniss},
title = {{SemRaFiner: Panoptic Segmentation in Sparse and Noisy Radar Point
Clouds}},
journal = ral,
year = {2025},
volume = {10},
number = {2},
pages = {923--930},
issn = {2377-3766},
doi = {10.1109/LRA.2024.3502058}
}

2024

  • D. Casado Herraez, L. Chang, M. Zeller, L. Wiesmann, J. Behley, M. Heidingsfeld, and C. Stachniss, “SPR: Single-Scan Radar Place Recognition,” IEEE Robotics and Automation Letters (RA-L), vol. 9, iss. 10, pp. 9079-9086, 2024.
    [BibTeX] [PDF] [Video] 
    @article{casado-herraez2024ral,
author = {Casado Herraez, D. and L. Chang and M. Zeller and L. Wiesmann and J. Behley and M. Heidingsfeld and C. Stachniss},
title = {{SPR: Single-Scan Radar Place Recognition}},
journal = ral,
year = {2024},
volume = {9},
number = {10},
pages = {9079-9086},
videourl = {https://youtu.be/JnMPbwGZMK8},
}

  • M. Zeller, D. Casado Herraez, J. Behley, M. Heidingsfeld, and C. Stachniss, “Radar Tracker: Moving Instance Tracking in Sparse and Noisy Radar Point Clouds,” in Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA), 2024. doi:10.1109/ICRA57147.2024.10610198
    [BibTeX] [PDF] [Video] 
    @inproceedings{zeller2024icra,
author = {M. Zeller and Casado Herraez, Daniel and J. Behley and M. Heidingsfeld and C. Stachniss},
title = {{Radar Tracker: Moving Instance Tracking in Sparse and Noisy Radar Point Clouds}},
booktitle = icra,
year = 2024,
doi = {10.1109/ICRA57147.2024.10610198},
videourl = {https://youtu.be/PixfkN8cMig}
}

  • D. Casado Herraez, M. Zeller, L. Chang, I. Vizzo, M. Heidingsfeld, and C. Stachniss, “Radar-Only Odometry and Mapping for Autonomous Vehicles,” in Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA), 2024. doi:10.1109/ICRA57147.2024.10610311
    [BibTeX] [PDF] [Video] 
    @inproceedings{casado-herraez2024icra,
author = {Casado Herraez, Daniel and M. Zeller and Chang, Le and I. Vizzo and M. Heidingsfeld and C. Stachniss},
title = {{Radar-Only Odometry and Mapping for Autonomous Vehicles}},
booktitle = icra,
year = 2024,
doi = {10.1109/ICRA57147.2024.10610311},
videourl = {https://youtu.be/_xWDXyyKEok}
}