4 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…
The Oxford Spires Dataset: Benchmarking Large-Scale LiDAR-Visual Localisation, Reconstruction and Radiance Field Methods
Yifu Tao, Miguel Ãngel Muñoz-Bañón, Lintong Zhang +3
This paper introduces a large-scale multi-modal dataset captured in and around well-known landmarks in Oxford using a custom-built multi-sensor perception unit as well as a millime…
ImLPR: Image-based LiDAR Place Recognition using Vision Foundation Models
Minwoo Jung, Lanke Frank Tarimo Fu, Maurice Fallon +1
LiDAR Place Recognition (LPR) is a key component in robotic localization, enabling robots to align current scans with prior maps of their environment. While Visual Place Recognitio…
Boxi: Design Decisions in the Context of Algorithmic Performance for Robotics
Jonas Frey, Turcan Tuna, Lanke Frank Tarimo Fu +8
Achieving robust autonomy in mobile robots operating in complex and unstructured environments requires a multimodal sensor suite capable of capturing diverse and complementary info…