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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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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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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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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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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