233 citations · 1.2k across the 37 of their papers we have counts for
42 papers
Quadruped Obstacle Avoidance and Footstep Planning with Distributed Low-cost Time-of-Flight Sensors
Giammarco Caroleo, Timothée Mahamoodally, Matteo Manzardo +6
Quadruped robots typically rely on depth cameras and LiDAR sensors to map their local environment. However, these sensors have limited close-range coverage, are relatively expensiv…
Language-EXtended Indoor SLAM (LEXIS): A Versatile System for Real-time Visual Scene Understanding
Christina Kassab, Matias Mattamala, Lintong Zhang +1
Versatile and adaptive semantic understanding would enable autonomous systems to comprehend and interact with their surroundings. Existing fixed-class models limit the adaptability…
Fast Traversability Estimation for Wild Visual Navigation
Jonas Frey, Matias Mattamala, Nived Chebrolu +3
Natural environments such as forests and grasslands are challenging for robotic navigation because of the false perception of rigid obstacles from high grass, twigs, or bushes. In…
InstaLoc: One-shot Global Lidar Localisation in Indoor Environments through Instance Learning
Lintong Zhang, Tejaswi Digumarti, Georgi Tinchev +1
Localization for autonomous robots in prior maps is crucial for their functionality. This paper offers a solution to this problem for indoor environments called InstaLoc, which ope…
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection
Thomas Corbères, Carlos Mastalli, Wolfgang Merkt +6
Real-time synthesis of legged locomotion maneuvers in challenging industrial settings is still an open problem, requiring simultaneous determination of footsteps locations several…
Real-time LIDAR localization in natural and urban environments
Georgi Tinchev, Adrian Penate-Sanchez, Maurice Fallon
Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method s…