147 citations · 174 across the 3 of their papers we have counts for
8 papers
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…
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…
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…
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…
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…
A Factor Graph Approach to Multi-Camera Extrinsic Calibration on Legged Robots
Andrzej Reinke, Marco Camurri, Claudio Semini
Legged robots are becoming popular not only in research, but also in industry, where they can demonstrate their superiority over wheeled machines in a variety of applications. Eith…