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11/08/2022
Deep IMU Bias Inference for Robust Visual-Inertial Odometry with Factor Graphs
Visual Inertial Odometry (VIO) is one of the most established state esti...
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09/29/2022
Factor Graph Fusion of Raw GNSS Sensing with IMU and Lidar for Precise Robot Localization without a Base Station
Accurate localization is a core component of a robot's navigation system...
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08/21/2022
Hilti-Oxford Dataset: A Millimetre-Accurate Benchmark for Simultaneous Localization and Mapping
Simultaneous Localization and Mapping (SLAM) is being deployed in real-w...
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12/16/2021
Multi-Camera LiDAR Inertial Extension to the Newer College Dataset
In this paper, we present a multi-camera LiDAR inertial dataset of 4.5km...
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11/01/2021
Learning Inertial Odometry for Dynamic Legged Robot State Estimation
This paper introduces a novel proprioceptive state estimator for legged ...
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09/13/2021
Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometry
We present a multi-camera visual-inertial odometry system based on facto...
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08/18/2021
Navigating by Touch: Haptic Monte Carlo Localization via Geometric Sensing and Terrain Classification
Legged robot navigation in extreme environments can hinder the use of ca...
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07/15/2021
VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots
We present VILENS (Visual Inertial Lidar Legged Navigation System), an o...
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03/25/2021
Learning Camera Performance Models for Active Multi-Camera Visual Teach and Repeat
In dynamic and cramped industrial environments, achieving reliable Visua...
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11/13/2020
Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry
We present an efficient multi-sensor odometry system for mobile platform...
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10/19/2020
Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks
We present an efficient, elastic 3D LiDAR reconstruction framework which...
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05/04/2020
Haptic Sequential Monte Carlo Localization for Quadrupedal Locomotion in Vision-Denied Scenarios
Continuous robot operation in extreme scenarios such as underground mine...
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03/12/2020
The Newer College Dataset: Handheld LiDAR, Inertial and Vision with Ground Truth
In this paper we present a large dataset with a variety of mobile mappin...
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10/22/2019
Preintegrated Velocity Bias Estimation to Overcome Contact Nonlinearities in Legged Robot Odometry
In this paper, we present a novel factor graph formulation to estimate t...
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04/05/2019
Robust Legged Robot State Estimation Using Factor Graph Optimization
Legged robots, specifically quadrupeds, are becoming increasingly attrac...
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11/03/2018
A Factor Graph Approach to Multi-Camera Extrinsic Calibration on Legged Robots
Legged robots are becoming popular not only in research, but also in ind...
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09/25/2018
Fast and Continuous Foothold Adaptation for Dynamic Locomotion through Convolutional Neural Networks
Legged robots can outperform wheeled machines for most navigation tasks ...
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05/25/2018