12 papers
GrandTour: A Legged Robotics Dataset in the Wild for Multi-Modal Perception and State Estimation
Turcan Tuna, Jonas Frey, Frank Fu +5
Accurate state estimation and multi-modal perception are prerequisites for autonomous legged robots in complex, large-scale environments. To date, no large-scale public legged-robo…
BIEVR-LIO: Robust LiDAR-Inertial Odometry through Bump-Image-Enhanced Voxel Maps
Patrick Pfreundschuh, Turcan Tuna, Cedric Le Gentil +3
Reliable odometry is essential for mobile robots as they increasingly enter more challenging environments, which often contain little information to constrain point cloud registrat…
CaRLi-V: Camera-RADAR-LiDAR Point-Wise 3D Velocity Estimation
Landson Guo, Andres M. Diaz Aguilar, William Talbot +3
Accurate point-wise velocity estimation in 3D is crucial for robot interaction with non-rigid dynamic agents, enabling robust performance in path planning, collision avoidance, and…
One-Shot Badminton Shuttle Detection for Mobile Robots
Florentin Dipner, William Talbot, Turcan Tuna +2
This paper presents a robust one-shot badminton shuttlecock detection framework for non-stationary robots. To address the lack of egocentric shuttlecock detection datasets, we intr…
Large-Scale Autonomous Gas Monitoring for Volcanic Environments: A Legged Robot on Mount Etna
Julia Richter, Turcan Tuna, Manthan Patel +6
Volcanic gas emissions are key precursors of eruptive activity. Yet, obtaining accurate near-surface measurements remains hazardous and logistically challenging, motivating the nee…
Informed, Constrained, Aligned: A Field Analysis on Degeneracy-aware Point Cloud Registration in the Wild
Turcan Tuna, Julian Nubert, Patrick Pfreundschuh +3
The ICP registration algorithm has been a preferred method for LiDAR-based robot localization for nearly a decade. However, even in modern SLAM solutions, ICP can degrade and becom…