492 citations
- University of OxfordGB107 papers
- Fermi National Accelerator LaboratoryUS7 papers
- California Institute of TechnologyUS6 papers
- The University of Texas at AustinUS6 papers
- University of CambridgeGB6 papers
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- National Institute for AstrophysicsIT5 papers
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- American Industrial Partners (United States)US4 papers
Showing 2020 · cs.ROShow all
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cs.RO2020★ 147 cited
Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry
David Wisth, Marco Camurri, Sandipan Das +1
We present an efficient multi-sensor odometry system for mobile platforms that jointly optimizes visual, lidar, and inertial information within a single integrated factor graph. Th…
cs.RO2020★ 1 cited
Actively Mapping Industrial Structures with Information Gain-Based Planning on a Quadruped Robot
Yiduo Wang, Milad Ramezani, Maurice Fallon
In this paper, we develop an online active mapping system to enable a quadruped robot to autonomously survey large physical structures. We describe the perception, planning and con…