233 citations · 1.2k across the 37 of their papers we have counts for
4 papers · 1 filter
SKD: Keypoint Detection for Point Clouds using Saliency Estimation
Georgi Tinchev, Adrian Penate-Sanchez, Maurice Fallon
We present SKD, a novel keypoint detector that uses saliency to determine the best candidates from a point cloud for tasks such as registration and reconstruction. The approach can…
Preintegrated Velocity Bias Estimation to Overcome Contact Nonlinearities in Legged Robot Odometry
David Wisth, Marco Camurri, Maurice Fallon
In this paper, we present a novel factor graph formulation to estimate the pose and velocity of a quadruped robot on slippery and deformable terrain. The factor graph introduces a…
Robust Legged Robot State Estimation Using Factor Graph Optimization
David Wisth, Marco Camurri, Maurice Fallon
Legged robots, specifically quadrupeds, are becoming increasingly attractive for industrial applications such as inspection. However, to leave the laboratory and to become useful t…
Learning to See the Wood for the Trees: Deep Laser Localization in Urban and Natural Environments on a CPU
Georgi Tinchev, Adrian Penate-Sanchez, Maurice Fallon
Localization in challenging, natural environments such as forests or woodlands is an important capability for many applications from guiding a robot navigating along a forest trail…