147 citations · 147 across the 1 of their papers we have counts for
3 papers
cs.RO2020★ 147 cited
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…
cs.RO2019
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…
cs.RO2019
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…