116 citations · 126 across the 13 of their papers we have counts for
16 papers
TRaIL-Odom: Tightly Coupled Continuous Time Radar-IMU-LiDAR Odometry with Adaptive Doppler Weighting
Chiyun Noh, Turcan Tuna, William Talbot +3
Existing radar-LiDAR fusion methods rely on fixed residual weights, even though the informativeness of radar Doppler and LiDAR geometry is scan- and direction-dependent, leading to…
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…
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…
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…
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…
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…
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…
Diffusion Based Robust LiDAR Place Recognition
Benjamin Krummenacher, Jonas Frey, Turcan Tuna +2
Mobile robots on construction sites require accurate pose estimation to perform autonomous surveying and inspection missions. Localization in construction sites is a particularly c…
Holistic Fusion: Task- and Setup-Agnostic Robot Localization and State Estimation with Factor Graphs
Julian Nubert, Turcan Tuna, Jonas Frey +4
Seamless operation of mobile robots in challenging environments requires low-latency local motion estimation and accurate global localization. While most sensor-fusion approaches a…
LEVA: A high-mobility logistic vehicle with legged suspension
Marco Arnold, Lukas Hildebrandt, Kaspar Janssen +15
The autonomous transportation of materials over challenging terrain is a challenge with major economic implications and remains unsolved. This paper introduces LEVA, a high-payload…
ForestLPR: LiDAR Place Recognition in Forests Attentioning Multiple BEV Density Images
Yanqing Shen, Turcan Tuna, Marco Hutter +2
Place recognition is essential to maintain global consistency in large-scale localization systems. While research in urban environments has progressed significantly using LiDARs or…
Continuous-Time State Estimation Methods in Robotics: A Survey
William Talbot, Julian Nubert, Turcan Tuna +5
Accurate, efficient, and robust state estimation is more important than ever in robotics as the variety of platforms and complexity of tasks continue to grow. Historically, discret…
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…
Autonomous Forest Inventory with Legged Robots: System Design and Field Deployment
Matías Mattamala, Nived Chebrolu, Benoit Casseau +5
We present a solution for autonomous forest inventory with a legged robotic platform. Compared to their wheeled and aerial counterparts, legged platforms offer an attractive balanc…
Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots
Philip Arm, Gabriel Waibel, Jan Preisig +8
The interest in exploring planetary bodies for scientific investigation and in-situ resource utilization is ever-rising. Yet, many sites of interest are inaccessible to state-of-th…
X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme Environments
Turcan Tuna, Julian Nubert, Yoshua Nava +2
Modern robotic systems are required to operate in challenging environments, which demand reliable localization under challenging conditions. LiDAR-based localization methods, such…