The Kalman filter—or, more precisely, the extended Kalman filter (EKF)—is a fundamental
engineering tool that is pervasively used in control and robotics and for various estimation …

A Lie group is an old mathematical abstract object dating back to the XIX century, when
mathematician Sophus Lie laid the foundations of the theory of continuous transformation …

Current approaches for visual-inertial odometry (VIO) are able to attain highly accurate state
estimation via nonlinear optimization. However, real-time optimization quickly becomes …

Legged robots require knowledge of pose and velocity in order to maintain stability and
execute walking paths. Current solutions either rely on vision data, which is susceptible to …

Recent results in monocular visual-inertial navigation (VIN) have shown that optimization-
based approaches outperform filtering methods in terms of accuracy due to their capability to …

This paper presents the Dexterity Network (Dex-Net) 1.0, a dataset of 3D object models and
a sampling-based planning algorithm to explore how Cloud Robotics can be used for robust …

We present visual inertial lidar legged navigation system (VILENS), an odometry system for
legged robots based on factor graphs. The key novelty is the tight fusion of four different …

Combining multiple LiDARs enables a robot to maximize its perceptual awareness of
environments and obtain sufficient measurements, which is promising for simultaneous …

In this letter, we investigate the convergence and consistency properties of an invariant-
extended Kalman filter (RI-EKF) based simultaneous localization and mapping (SLAM) …

Continuum robots have the potential to enable new applications in medicine, inspection,
and countless other areas due to their unique shape, compliance, and size. Excellent …