10 citations · 10 across the 11 of their papers we have counts for
7 papers · 1 filter
Towards Proprioceptive Terrain Mapping with Quadruped Robots for Exploration in Planetary Permanently Shadowed Regions
Alberto Sanchez-Delgado, João Carlos Virgolino Soares, Victor Barasuol +1
Permanently Shadowed Regions (PSRs) near the lunar poles are of interest for future exploration due to their potential to contain water ice and preserve geological records. Their c…
Online Object-Level Semantic Mapping for Quadrupeds in Real-World Environments
Emad Razavi, Angelo Bratta, João Carlos Virgolino Soares +2
We present an online semantic object mapping system for a quadruped robot operating in real indoor environments, turning sensor detections into named objects in a global map. Durin…
Towards An Adaptive Locomotion Strategy For Quadruped Rovers: Quantifying When To Slide Or Walk On Planetary Slopes
Alberto Sanchez-Delgado, João Carlos Virgolino Soares, David Omar Al Tawil +5
Legged rovers provide enhanced mobility compared to wheeled platforms, enabling navigation on steep and irregular planetary terrains. However, traditional legged locomotion might b…
VAR-SLAM: Visual Adaptive and Robust SLAM for Dynamic Environments
João Carlos Virgolino Soares, Gabriel Fischer Abati, Claudio Semini
Visual SLAM in dynamic environments remains challenging, as several existing methods rely on semantic filtering that only handles known object classes, or use fixed robust kernels…
Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing
Ylenia Nisticò, Hajun Kim, João Carlos Virgolino Soares +3
This letter introduces two multi-sensor state estimation frameworks for quadruped robots, built on the Invariant Extended Kalman Filter (InEKF) and Invariant Smoother (IS). The pro…
MUSE: A Real-Time Multi-Sensor State Estimator for Quadruped Robots
Ylenia Nisticò, João Carlos Virgolino Soares, Lorenzo Amatucci +2
This paper introduces an innovative state estimator, MUSE (MUlti-sensor State Estimator), designed to enhance state estimation's accuracy and real-time performance in quadruped rob…
SANDRO: a Robust Solver with a Splitting Strategy for Point Cloud Registration
Michael Adlerstein, João Carlos Virgolino Soares, Angelo Bratta +1
Point cloud registration is a critical problem in computer vision and robotics, especially in the field of navigation. Current methods often fail when faced with high outlier rates…