The Newer College Dataset: Handheld LiDAR, inertial and vision with ground truth M Ramezani, Y Wang, M Camurri, D Wisth, M Mattamala, M Fallon 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2020 | 181 | 2020 |
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge M Tranzatto, F Mascarich, L Bernreiter, C Godinho, M Camurri, ... Field Robotics, 2021 | 120 | 2021 |
Unified multi-modal landmark tracking for tightly coupled lidar-visual-inertial odometry D Wisth, M Camurri, S Das, M Fallon IEEE Robotics and Automation Letters 6 (2), 1004-1011, 2021 | 118 | 2021 |
VILENS: Visual, inertial, lidar, and leg odometry for all-terrain legged robots D Wisth, M Camurri, M Fallon IEEE Transactions on Robotics 39 (1), 309-326, 2022 | 90 | 2022 |
Robust legged robot state estimation using factor graph optimization D Wisth, M Camurri, M Fallon IEEE Robotics and Automation Letters 4 (4), 4507-4514, 2019 | 83 | 2019 |
Towards autonomous inspection of concrete deterioration in sewers with legged robots H Kolvenbach, D Wisth, R Buchanan, G Valsecchi, R Grandia, M Fallon, ... Journal of field robotics 37 (8), 1314-1327, 2020 | 56 | 2020 |
Multi-camera LiDAR inertial extension to the newer college dataset L Zhang, M Camurri, D Wisth, M Fallon arXiv preprint arXiv:2112.08854v3, 2022 | 43 | 2022 |
Team cerberus wins the darpa subterranean challenge: Technical overview and lessons learned M Tranzatto, M Dharmadhikari, L Bernreiter, M Camurri, S Khattak, ... arXiv preprint arXiv:2207.04914, 2022 | 37 | 2022 |
Hilti-oxford dataset: A millimeter-accurate benchmark for simultaneous localization and mapping L Zhang, M Helmberger, LFT Fu, D Wisth, M Camurri, D Scaramuzza, ... IEEE Robotics and Automation Letters 8 (1), 408-415, 2022 | 36 | 2022 |
Preintegrated velocity bias estimation to overcome contact nonlinearities in legged robot odometry D Wisth, M Camurri, M Fallon 2020 IEEE International Conference on Robotics and Automation (ICRA), 392-398, 2020 | 30 | 2020 |
Balancing the budget: Feature selection and tracking for multi-camera visual-inertial odometry L Zhang, D Wisth, M Camurri, M Fallon IEEE Robotics and Automation Letters 7 (2), 1182-1189, 2021 | 25 | 2021 |
Hilti SLAM challenge submission: Vilens and SLAM M Camurri, L Zhang, D Wisth, M Fallon tech. rep, 2022 | 2 | 2022 |
Multisensor fusion for state estimation via factor graphs D Wisth University of Oxford, 2021 | | 2021 |
VILENS: A Visual Inertial Legged Navigation System based on Factor Graphs D Wisth, M Camurri, M Fallon | | |