233 citations · 1.2k across the 37 of their papers we have counts for
11 papers · 1 filter
Multi-Camera LiDAR Inertial Extension to the Newer College Dataset
Lintong Zhang, Marco Camurri, David Wisth +1
We present a multi-camera LiDAR inertial dataset of 4.5 km walking distance as an expansion of the Newer College Dataset. The global shutter multi-camera device is hardware synchro…
Learning Inertial Odometry for Dynamic Legged Robot State Estimation
Russell Buchanan, Marco Camurri, Frank Dellaert +1
This paper introduces a novel proprioceptive state estimator for legged robots based on a learned displacement measurement from IMU data. Recent research in pedestrian tracking has…
AEROS: Adaptive RObust least-Squares for Graph-Based SLAM
Milad Ramezani, Matias Mattamala, Maurice Fallon
In robot localisation and mapping, outliers are unavoidable when loop-closure measurements are taken into account. A single false-positive loop-closure can have a very negative imp…
Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometry
Lintong Zhang, David Wisth, Marco Camurri +1
We present a multi-camera visual-inertial odometry system based on factor graph optimization which estimates motion by using all cameras simultaneously while retaining a fixed over…
Navigating by Touch: Haptic Monte Carlo Localization via Geometric Sensing and Terrain Classification
Russell Buchanan, Jakub Bednarek, Marco Camurri +3
Legged robot navigation in extreme environments can hinder the use of cameras and laser scanners due to darkness, air obfuscation or sensor damage. In these conditions, propriocept…
Online Estimation of Diameter at Breast Height (DBH) of Forest Trees Using a Handheld LiDAR
Alexander Proudman, Milad Ramezani, Maurice Fallon
While mobile LiDAR sensors are increasingly used to scan in ecology and forestry applications, reconstruction and characterisation are typically carried out offline (to the best of…