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cs.RO2026
A multi-platform LiDAR dataset for standardized forest inventory measurement at long term ecological monitoring sites
Michael R. Chang, Anna Candotti, Karl von Ellenrieder +2
We present a curated multi-platform LiDAR reference dataset from an instrumented ICOS forest plot, explicitly designed to support calibration, benchmarking, and integration of 3D s…
cs.RO2026
How Robot Dogs See the Unseeable: Improving Visual Interpretability via Peering for Exploratory Robots
Oliver Bimber, Karl Dietrich von Ellenrieder, Michael Haller +6
In vegetated environments, such as forests, exploratory robots play a vital role in navigating complex, cluttered environments where human access is limited and traditional equipme…
cs.RO2024
VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots
David Wisth, Marco Camurri, Maurice Fallon
We present visual inertial lidar legged navigation system (VILENS), an odometry system for legged robots based on factor graphs. The key novelty is the tight fusion of four differe…