233 citations · 809 across the 8 of their papers we have counts for
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cs.RO2021★ 35 cited
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…
cs.RO2021★ 180 cited
VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots
David Wisth, Marco Camurri, Maurice Fallon
We present visual inertial lidar legged navigation system (VILENS), an odometry system for legged robots based on factor graphs. The key novelty is the tight fusion of four differe…