StachnissLab

Short CV

Saurabh Gupta is a PhD student at the Photogrammetry Lab at the University of Bonn since November 2023. He received his master’s degree at the Institute of Geodesy and Geoinformation in 2023 working on LiDAR-based place recognition and loop closing.

Research Interests

• SLAM
• Place recognition

Teaching

• 2023/2024 – Modern C++ for Robotics and Computer Vision

Publications

2025

• T. Guadagnino, B. Mersch, S. Gupta, I. Vizzo, G. Grisetti, and C. Stachniss, “KISS-SLAM: A Simple, Robust, and Accurate 3D LiDAR SLAM System With Enhanced Generalization Capabilities,” in Proc. of the ieee/rsj intl. conf. on intelligent robots and systems (iros), 2025.
  [BibTeX] [PDF] [Code]

  @inproceedings{guadagnino2025iros,
  author = {T. Guadagnino and B. Mersch and S. Gupta and I. Vizzo and G. Grisetti and C. Stachniss},
  title = {{KISS-SLAM: A Simple, Robust, and Accurate 3D LiDAR SLAM System With Enhanced Generalization Capabilities}},
  booktitle = iros,
  year = 2025,
  url = {https://arxiv.org/pdf/2503.12660},
  codeurl = {https://github.com/PRBonn/kiss-slam},
  }

• J. Laserna, S. Gupta, O. Martinez Mozos, C. Stachniss, and P. San Segundo, “Loop Closure Verification in 3D LiDAR-Based SLAM,” in Proc. of the European Conf. on Mobile Robots (ECMR), 2025.
  [BibTeX]

  @inproceedings{laserna2025ecmr,
  author = {J. Laserna and S. Gupta and Martinez Mozos, O. and C. Stachniss and San Segundo, P.},
  title = {{Loop Closure Verification in 3D LiDAR-Based SLAM}},
  booktitle = ecmr,
  year = 2025,
  }

• S. Nagulavancha, S. Desai, S. Gupta, L. Lobefaro, C. Stachniss, I. Vizzo, and T. Guadagnino, “Revisiting Fast and Accurate RGB-D Odometry for Real-World Use by Embracing Simplicity ,” in Proc. of the European Conf. on Mobile Robots (ECMR), 2025.
  [BibTeX]

  @inproceedings{nagulavancha2025ecmr,
  author = {S. Nagulavancha and S. Desai and S. Gupta and L. Lobefaro and C. Stachniss and I. Vizzo and T. Guadagnino},
  title = {{Revisiting Fast and Accurate RGB-D Odometry for Real-World Use by Embracing Simplicity }},
  booktitle = ecmr,
  year = 2025,
  }

• T. Guadagnino, B. Mersch, I. Vizzo, S. Gupta, M. V. R. Malladi, L. Lobefaro, G. Doisy, and C. Stachniss, “Kinematic-ICP: Enhancing LiDAR Odometry with Kinematic Constraints for Wheeled Mobile Robots Moving on Planar Surfaces,” in Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA), 2025.
  [BibTeX] [PDF] [Code] [Video]

  @inproceedings{guadagnino2025icra,
  author = {Guadagnino, T. and Mersch, B. and Vizzo, I. and Gupta, S. and Malladi, M.V.R. and Lobefaro, L. and Doisy, G. and Stachniss, C.},
  title = {{Kinematic-ICP: Enhancing LiDAR Odometry with Kinematic Constraints for Wheeled Mobile Robots Moving on Planar Surfaces}},
  booktitle = icra,
  year = 2025,
  url = {https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/guadagnino2025icra.pdf},
  codeurl = {https://github.com/PRBonn/kinematic-icp},
  videourl = {https://youtu.be/4nD5UtkMb1s}
  }

2024

• L. Wiesmann, E. Marks, S. Gupta, T. Guadagnino, J. Behley, and C. Stachniss, “Efficient LiDAR Bundle Adjustment for Multi-Scan Alignment Utilizing Continuous-Time Trajectories,” Arxiv preprint, vol. arXiv:2412.11760, 2024.
  [BibTeX] [PDF]

  @article{wiesmann2024arxiv,
  author = {L. Wiesmann and E. Marks and S. Gupta and T. Guadagnino and J. Behley and C. Stachniss},
  title = {{Efficient LiDAR Bundle Adjustment for Multi-Scan Alignment Utilizing Continuous-Time Trajectories}},
  journal = arxiv,
  year = 2024,
  volume = {arXiv:2412.11760},
  url = {https://arxiv.org/pdf/2412.11760}
  }

• S. Gupta, T. Guadagnino, B. Mersch, I. Vizzo, and C. Stachniss, “Effectively Detecting Loop Closures using Point Cloud Density Maps,” in Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA), 2024. doi:10.1109/ICRA57147.2024.10610962
  [BibTeX] [PDF] [Code] [Video]

  @inproceedings{gupta2024icra,
  author = {S. Gupta and T. Guadagnino and B. Mersch and I. Vizzo and C. Stachniss},
  title = {{Effectively Detecting Loop Closures using Point Cloud Density Maps}},
  booktitle = icra,
  year = 2024,
  doi = {10.1109/ICRA57147.2024.10610962},
  codeurl = {https://github.com/PRBonn/MapClosures},
  videourl = {https://youtu.be/BpwR_aLXrNo}
  }