63 citations · 154 across the 8 of their papers we have counts for
8 papers · 1 filter
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…
Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned
Marco Tranzatto, Mihir Dharmadhikari, Lukas Bernreiter +33
This article presents the CERBERUS robotic system-of-systems, which won the DARPA Subterranean Challenge Final Event in 2021. The Subterranean Challenge was organized by DARPA with…
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge
Marco Tranzatto, Frank Mascarich, Lukas Bernreiter +38
Autonomous exploration of subterranean environments constitutes a major frontier for robotic systems as underground settings present key challenges that can render robot autonomy h…
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…
iMHS: An Incremental Multi-Hypothesis Smoother
Fan Jiang, Varun Agrawal, Russell Buchanan +2
State estimation of multi-modal hybrid systems is an important problem with many applications in the field robotics. However, incorporating discrete modes in the estimation process…
Haptic Sequential Monte Carlo Localization for Quadrupedal Locomotion in Vision-Denied Scenarios
Russell Buchanan, Marco Camurri, Maurice Fallon
Continuous robot operation in extreme scenarios such as underground mines or sewers is difficult because exteroceptive sensors may fail due to fog, darkness, dirt or malfunction. S…
Walking Posture Adaptation for Legged Robot Navigation in Confined Spaces
Russell Buchanan, Tirthankar Bandyopadhyay, Marko Bjelonic +3
Legged robots have the ability to adapt their walking posture to navigate confined spaces due to their high degrees of freedom. However, this has not been exploited in most common…