116 citations · 125 across the 12 of their papers we have counts for
13 papers · 1 filter
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…
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…