233 citations · 1.2k across the 37 of their papers we have counts for
11 papers · 1 filter
Observability-aware online multi-lidar extrinsic calibration
Sandipan Das, Ludvig af Klinteberg, Maurice Fallon +1
Accurate and robust extrinsic calibration is necessary for deploying autonomous systems which need multiple sensors for perception. In this paper, we present a robust system for re…
Deep IMU Bias Inference for Robust Visual-Inertial Odometry with Factor Graphs
Russell Buchanan, Varun Agrawal, Marco Camurri +2
Visual Inertial Odometry (VIO) is one of the most established state estimation methods for mobile platforms. However, when visual tracking fails, VIO algorithms quickly diverge due…
M-LIO: Multi-lidar, multi-IMU odometry with sensor dropout tolerance
Sandipan Das, Navid Mahabadi, Maurice Fallon +1
We present a robust system for state estimation that fuses measurements from multiple lidars and inertial sensors with GNSS data. To initiate the method, we use the prior GNSS pose…
Factor Graph Fusion of Raw GNSS Sensing with IMU and Lidar for Precise Robot Localization without a Base Station
Jonas Beuchert, Marco Camurri, Maurice Fallon
Accurate localization is a core component of a robot's navigation system. To this end, global navigation satellite systems (GNSS) can provide absolute measurements outdoors and, th…
Hilti-Oxford Dataset: A Millimetre-Accurate Benchmark for Simultaneous Localization and Mapping
Lintong Zhang, Michael Helmberger, Lanke Frank Tarimo Fu +4
Simultaneous Localization and Mapping (SLAM) is being deployed in real-world applications, however many state-of-the-art solutions still struggle in many common scenarios. A key ne…
3D Lidar Reconstruction with Probabilistic Depth Completion for Robotic Navigation
Yifu Tao, Marija Popović, Yiduo Wang +3
Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such environment representations using lidars is c…