233 citations · 1.2k across the 37 of their papers we have counts for
8 papers · 1 filter
RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control
Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino +2
We present a unified model-based and data-driven approach for quadrupedal planning and control to achieve dynamic locomotion over uneven terrain. We utilize on-board proprioceptive…
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…
Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks
Yiduo Wang, Nils Funk, Milad Ramezani +5
We present an efficient, elastic 3D LiDAR reconstruction framework which can reconstruct up to maximum LiDAR ranges (60 m) at multiple frames per second, thus enabling robot explor…
Haptic Sequential Monte Carlo Localization for Quadrupedal Locomotion in Vision-Denied Scenarios
Russell Buchanan, Marco Camurri, Maurice Fallon
Continuous robot operation in extreme scenarios such as underground mines or sewers is difficult because exteroceptive sensors may fail due to fog, darkness, dirt or malfunction. S…
The Newer College Dataset: Handheld LiDAR, Inertial and Vision with Ground Truth
Milad Ramezani, Yiduo Wang, Marco Camurri +3
In this paper we present a large dataset with a variety of mobile mapping sensors collected using a handheld device carried at typical walking speeds for nearly 2.2 km through New…
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…