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05/16/2023
InstaLoc: One-shot Global Lidar Localisation in Indoor Environments through Instance Learning
Localization for autonomous robots in prior maps is crucial for their fu...
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05/15/2023
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection
Real-time synthesis of legged locomotion maneuvers in challenging indust...
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05/15/2023
Fast Traversability Estimation for Wild Visual Navigation
Natural environments such as forests and grasslands are challenging for ...
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01/31/2023
Real-time LIDAR localization in natural and urban environments
Localization is a key challenge in many robotics applications. In this w...
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12/19/2022
Observability-aware online multi-lidar extrinsic calibration
Accurate and robust extrinsic calibration is necessary for deploying aut...
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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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10/03/2022
M-LIO: Multi-lidar, multi-IMU odometry with sensor dropout tolerance
We present a robust system for state estimation that fuses measurements ...
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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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07/25/2022
3D Lidar Reconstruction with Probabilistic Depth Completion for Robotic Navigation
Safe motion planning in robotics requires planning into space which has ...
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05/14/2022
Extrinsic Calibration and Verification of Multiple Non-overlapping Field of View Lidar Sensors
We demonstrate a multi-lidar calibration framework for large mobile plat...
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05/14/2022
Multi-modal curb detection and filtering
Reliable knowledge of road boundaries is critical for autonomous vehicle...
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01/11/2022
An Efficient Locally Reactive Controller for Safe Navigation in Visual Teach and Repeat Missions
To achieve successful field autonomy, mobile robots need to freely adapt...
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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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10/03/2021
AEROS: Adaptive RObust least-Squares for Graph-Based SLAM
In robot localisation and mapping, outliers are unavoidable when loop-cl...
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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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06/29/2021
Scalable and Elastic LiDAR Reconstruction in Complex Environments Through Spatial Analysis
This paper presents novel strategies for spawning and fusing submaps wit...
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04/19/2021
Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization
To dynamically traverse challenging terrain, legged robots need to conti...
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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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12/05/2020
RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control
We present a unified model-based and data-driven approach for quadrupeda...
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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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02/22/2020
Actively Mapping Industrial Structures with Information Gain-Based Planning on a Quadruped Robot
In this paper, we develop an online active mapping system to enable a qu...
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02/17/2020
Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations
Dynamic traversal of uneven terrain is a major objective in the field of...
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01/28/2020
Online LiDAR-SLAM for Legged Robots with Robust Registration and Deep-Learned Loop Closure
In this paper, we present a factor-graph LiDAR-SLAM system which incorpo...
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12/10/2019
SKD: Unsupervised Keypoint Detecting for Point Clouds using Embedded Saliency Estimation
In this work we present a novel keypoint detector that uses saliency to ...
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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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02/26/2019
Learning to See the Wood for the Trees: Deep Laser Localization in Urban and Natural Environments on a CPU
Localization in challenging, natural environments such as forests or woo...
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09/08/2018