Publications

@inproceedings{digiforestsalon-2025/5,
  title={DigiForests: A Longitudinal LiDAR Dataset for Forestry Robotics},
  author={Fallon M},
  booktitle={IEEE International Conference on Robotics and Automation},
  year = "2025"
}

BibTeX

@inproceedings{markerlessaeria-2024/12,
  title={Markerless aerial-terrestrial co-registration of forest point clouds using a deformable pose graph},
  author={Casseau B, Chebrolu N, Mattamala Aravena ME, Freissmuth L & Fallon M},
  booktitle={International Conference on Intelligent Robots and Systems (IROS 2024)},
  pages={39-46},
  year = "2024"
}

BibTeX

@inproceedings{onlinetreerecon-2024/12,
  title={Online tree reconstruction and forest inventory on a mobile robotic system},
  author={Mattamala Aravena ME, Chebrolu N & Fallon M},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)},
  pages={11765-11772},
  year = "2024"
}

BibTeX

@inproceedings{listageometrico-2024/8,
  title={LiSTA: geometric object-based change detection in cluttered environments},
  author={Rowell J, Zhang L & Fallon M},
  booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA 2024)},
  pages={3632-3638},
  year = "2024"
}

BibTeX

@inproceedings{treeinstanceseg-2024/8,
  title={Tree instance segmentation and traits estimation for forestry environments exploiting LiDAR data collected by mobile robots},
  author={Malladi MVR, Guadagnino T, Lobefaro L, Mattamala M, Griess H et al.},
  booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA 2024)},
  pages={17933-17940},
  year = "2024"
}

BibTeX

@inproceedings{languageextende-2024/8,
  title={Language-EXtended Indoor SLAM (LEXIS): a versatile system for real-time visual scene understanding},
  author={Kassab C, Mattamala Aravena ME, Zhang L & Fallon M},
  booktitle={ 2024 IEEE International Conference on Robotics and Automation (ICRA 2024)},
  pages={15988-15994},
  year = "2024"
}

BibTeX

@inproceedings{silvrscalableli-2024/8,
  title={SiLVR: scalable Lidar-visual reconstruction with neural radiance fields for robotic inspection},
  author={Tao Y, Bhalgat Y, Fu LFT, Mattamala M, Chebrolu N et al.},
  booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA 2024)},
  pages={17983-17989},
  year = "2024"
}

BibTeX

@article{planningunderun-2024/8,
  title={Planning under uncertainty for safe robot exploration using Gaussian process prediction},
  author={Stephens A, Budd M, Staniaszek M, Casseau B, Duckworth P et al.},
  journal={Autonomous Robots},
  volume={48},
  number={18},
  publisher={Springer},
  year = "2024"
}

BibTeX

@inproceedings{imubasedonlinem-2024/7,
  title={IMU-based online multi-lidar calibration},
  author={Das S, Boberg B, Fallon M & Chatterjee S},
  booktitle={35th IEEE Intelligent Vehicles Symposium (IV 2024)},
  pages={3227-3234},
  year = "2024"
}

BibTeX

@inproceedings{dfreehandultras-2024/7,
  title={3D freehand ultrasound using visual inertial and deep inertial odometry for measuring patellar tracking},
  author={Buchanan R, Tu SJ, Camurri M, Mellon SJ & Fallon M},
  booktitle={19th IEEE International Symposium on Medical Measurements and Applications (MeMeA 2024)},
  pages={1-6},
  year = "2024"
}

BibTeX

@article{ospreymultisess-2024/7,
  title={Osprey: multisession autonomous aerial mapping with LiDAR-based SLAM and next best view planning},
  author={Border R, Chebrolu N, Tao Y, Gammell JD & Fallon M},
  journal={IEEE Transactions on Field Robotics},
  volume={1},
  pages={113-130},
  publisher={IEEE},
  year = "2024"
}

BibTeX

@misc{dfreehandultras-2024/4,
  title={3D Freehand Ultrasound using Visual Inertial and Deep Inertial Odometry for Measuring Patellar Tracking},
  author={Buchanan R, Tu SJ, Camurri M, Mellon SJ & Fallon M},
  year = "2024"
}

BibTeX

@article{teamcerberuswin-2024/4,
  title={Team CERBERUS wins the DARPA subterranean challenge: technical overview and lessons learned},
  author={Tranzatto M, Dharmadhikari M, Bernreiter L, Camurri M, Khattak S et al.},
  journal={Field Robotics},
  volume={4},
  pages={249-312},
  publisher={Field Robotics Publication Society},
  year = "2024"
}

BibTeX

@inproceedings{extrinsiccalibr-2023/10,
  title={Extrinsic Calibration of Camera to LIDAR Using a Differentiable Checkerboard Model},
  author={Fu LFT, Chebrolu N & Fallon M},
  booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={1825-1831},
  year = "2023"
}

BibTeX

@inproceedings{factorgraphfusi-2023/7,
  title={Factor graph fusion of raw GNSS Sensing with IMU and Lidar for precise robot localization without a base station },
  author={Beuchert J, Camurri M & Fallon M},
  booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)},
  year = "2023"
}

BibTeX

@inproceedings{mliomultilidarm-2023/7,
  title={M-LIO: Multi-lidar, multi-IMU odometry with sensor dropout tolerance},
  author={Das S, Mahabadi N, Fallon M & Chatterjee S},
  booktitle={The 35th IEEE Intelligent Vehicles Symposium (IV 2023)},
  year = "2023"
}

BibTeX

@inproceedings{fasttraversabil-2023/7,
  title={Fast traversability estimation for wild visual navigation},
  author={Frey J, Mattamala Aravena ME, Chebrolu N, Cadena C, Fallon M et al.},
  booktitle={19th Robotics: Science and Systems (RSS 2023)},
  year = "2023"
}

@inproceedings{instaloconeshot-2023/7,
  title={InstaLoc: one-shot global lidar localisation in indoor environments through instance learning},
  author={Fallon M},
  booktitle={19th Robotics: Science and Systems (RSS 2023)},
  year = "2023"
}

@article{fasttraversabil-2023/6,
  title={Fast traversability estimation for wild visual navigation},
  author={Frey J, Mattamala Aravena ME, Chebrolu N, Cadena C, Fallon M et al.},
  journal={Robotics: Science and Systems},
  volume={XIX},
  pages={p054},
  publisher={Robotics: Science and Systems},
  year = "2023"
}

BibTeX

@article{observabilityaw-2023/3,
  title={Observability-aware online multi-lidar extrinsic calibration},
  author={Das S, Klinteberg LA, Fallon M & Chatterjee S},
  journal={IEEE Robotics and Automation Letters},
  volume={8},
  pages={2860-2867},
  publisher={IEEE},
  year = "2023"
}

@inproceedings{batchdifferenti-2023/1,
  title={Batch Differentiable Pose Refinement for In-The-Wild Camera/LiDAR Extrinsic Calibration},
  author={Fu LFT & Fallon M},
  booktitle={2023 Conference on Robot Learning},
  year = "2023"
}

BibTeX

@article{hiltioxforddata-2022/12,
  title={Hilti-Oxford Dataset: a millimeter-accurate benchmark for simultaneous localization and mapping},
  author={Zhang L, Helmberger M, Fu LFT, Wisth D, Camurri M et al.},
  journal={IEEE Robotics and Automation Letters},
  volume={8},
  pages={408-415},
  publisher={Institute of Electrical and Electronics Engineers},
  year = "2022"
}

BibTeX

@inproceedings{dlidarreconstru-2022/12,
  title={3D lidar reconstruction with probabilistic depth completion for robotic navigation},
  author={Tao Y, Popović M, Wang Y, Digumarti ST, Chebrolu N et al.},
  booktitle={2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)},
  pages={5339-5346,},
  year = "2022"
}

BibTeX

@article{deepimubiasinfe-2022/11,
  title={Deep IMU bias inference for robust visual-inertial odometry with factor graphs},
  author={Buchanan R, Agrawal V, Camurri M, Dellaert F & Fallon M},
  journal={IEEE Robotics and Automation Letters},
  volume={8},
  pages={41-48},
  publisher={IEEE},
  year = "2022"
}

BibTeX

@misc{deepimubiasinfe-2022/11,
  title={Deep IMU Bias Inference for Robust Visual-Inertial Odometry with Factor Graphs},
  author={Buchanan R, Agrawal V, Camurri M, Dellaert F & Fallon M},
  year = "2022"
}

BibTeX

@misc{factorgraphfusi-2022/9,
  title={Factor Graph Fusion of Raw GNSS Sensing with IMU and Lidar for Precise Robot Localization without a Base Station},
  author={Beuchert J, Camurri M & Fallon M},
  year = "2022"
}

BibTeX

@article{vilensvisualine-2022/8,
  title={VILENS: Visual, inertial, lidar, and leg odometry for all-terrain legged robots},
  author={Wisth D, Camurri M & Fallon M},
  journal={IEEE Transactions on Robotics},
  volume={39},
  pages={309-326},
  publisher={IEEE},
  year = "2022"
}

BibTeX

@article{towardsrealtime-2022/8,
  title={Towards real-time forest inventory using handheld LiDAR},
  author={Proudman A, Ramezani M, Digumarti S, Chebrolu N & Fallon M},
  journal={Robotics and Autonomous Systems},
  volume={157},
  number={104240},
  publisher={Elsevier},
  year = "2022"
}

BibTeX

@misc{hiltioxforddata-2022/8,
  title={Hilti-Oxford Dataset: A Millimetre-Accurate Benchmark for Simultaneous Localization and Mapping},
  author={Zhang L, Helmberger M, Fu LFT, Wisth D, Camurri M et al.},
  year = "2022"
}

BibTeX

@inproceedings{unsupervisedlea-2022/7,
  title={Unsupervised learning of terrain representations for haptic Monte Carlo localization},
  author={Łysakowski M, Nowicki M, Buchanan R, Camurri M, Fallon M et al.},
  booktitle={International Conference on Robotics and Automation (ICRA 2022)},
  pages={4642-4648},
  year = "2022"
}

BibTeX

@inproceedings{extrinsiccalibr-2022/7,
  title={Extrinsic calibration and verification of multiple non-overlapping field of view lidar sensors},
  author={Das S, Mahabadi N, Djikic A, Nassir C, Chatterjee S et al.},
  booktitle={2022 International Conference on Robotics and Automation (ICRA)},
  pages={919-925},
  year = "2022"
}

BibTeX

@article{strategiesforla-2022/7,
  title={Strategies for large scale elastic and semantic LiDAR reconstruction},
  author={Wang Y, Ramezani M, Mattamala M, Digumarti S & Fallon M},
  journal={Robotics and Autonomous Systems},
  volume={155},
  number={104185},
  publisher={Elsevier},
  year = "2022"
}

BibTeX

@article{rlocterrainawar-2022/5,
  title={RLOC: terrain-aware legged locomotion using reinforcement learning and optimal control},
  author={Gangapurwala S, Geisert M, Orsolino R, Fallon M & Havoutis I},
  journal={IEEE Transactions on Robotics},
  volume={38},
  pages={2908-2927},
  publisher={IEEE},
  year = "2022"
}

BibTeX

@article{balancingthebud-2022/4,
  title={Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometry},
  author={Zhang L, Wisth D, Camurri M & Fallon M},
  journal={IEEE ROBOTICS AND AUTOMATION LETTERS},
  volume={7},
  pages={1182-1189},
  year = "2022"
}

BibTeX

@article{anefficientloca-2022/4,
  title={An Efficient Locally Reactive Controller for Safe Navigation in Visual Teach and Repeat Missions},
  author={Mattamala M, Chebrolu N & Fallon M},
  journal={IEEE ROBOTICS AND AUTOMATION LETTERS},
  volume={7},
  pages={2353-2360},
  year = "2022"
}

BibTeX

@article{aerosadaptivero-2022/4,
  title={AEROS: AdaptivE RObust Least-Squares for Graph-Based SLAM},
  author={Ramezani M, Mattamala Aravena ME & Fallon M},
  journal={Frontiers in Robotics and AI},
  volume={9},
  number={789444},
  publisher={Frontiers Media},
  year = "2022"
}

BibTeX

@article{cerberusautonom-2022/3,
  title={CERBERUS: autonomous legged and aerial robotic exploration in the tunnel and urban circuits of the DARPA Subterranean Challenge},
  author={Tranzatto M, Mascarich F, Bernreiter L, Godinho C, Camurri M et al.},
  journal={Field Robotics},
  volume={2},
  pages={274-324},
  publisher={Field Robotics Publication Society},
  year = "2022"
}

BibTeX

@inproceedings{icplocalization-2022/1,
  title={ICP localization and walking experiments on a TALOS humanoid robot},
  author={Lasguignes T, Maroger I, Fallon M, Ramezani M, Marchionni L et al.},
  booktitle={2021 20th International Conference on Advanced Robotics (ICAR)},
  pages={800-805},
  year = "2022"
}

@inproceedings{learninginertia-2022/1,
  title={Learning inertial odometry for dynamic legged robot state estimation},
  author={Buchanan R, Camurri M, Dellaert F & Fallon M},
  booktitle={Conference: Conference on Robot Learning (CoRL 2021)},
  pages={1575-1584},
  year = "2022"
}

@misc{thesheldonianth-2022/1,
  title={The Sheldonian Theatre 3D model},
  author={Zhang L, Fu L & Fallon M},
  year = "2022"
}

BibTeX

@inproceedings{rapidstabilitym-2021/12,
  title={Rapid stability margin estimation for contact-rich locomotion},
  author={Orsolino R, Gangapurwala S, Melon O, Geisert M, Havoutis I et al.},
  booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={8485-8492},
  year = "2021"
}

BibTeX

@misc{multicameralida-2021/12,
  title={Multi-Camera LiDAR Inertial Extension to the Newer College Dataset},
  author={Zhang L, Camurri M, Wisth D & Fallon M},
  year = "2021"
}

BibTeX

@misc{learninginertia-2021/11,
  title={Learning Inertial Odometry for Dynamic Legged Robot State Estimation},
  author={Buchanan R, Camurri M, Dellaert F & Fallon M},
  year = "2021"
}

@inproceedings{learninganexper-2021/10,
  title={Learning an expert skill-space for replanning dynamic quadruped locomotion over obstacles},
  author={Surovik D, Melon O, Geisert M, Fallon M & Havoutis I},
  booktitle={4th Annual Conference on Robot Learning (CoRL2020)},
  pages={1509-1518},
  year = "2021"
}

BibTeX

@inproceedings{realtimetraject-2021/10,
  title={Real-time trajectory adaptation for quadrupedal locomotion using deep reinforcement learning},
  author={Gangapurwala S, Geisert M, Orsolino R, Fallon M & Havoutis I},
  booktitle={2021 International Conference on Robotics and Automation (ICRA)},
  pages={5973-5979},
  year = "2021"
}

BibTeX

@inproceedings{learningcamerap-2021/10,
  title={Learning camera performance models for active multi-camera visual teach and repeat},
  author={Mattamala Aravena ME, Ramezani M, Camurri M & Fallon M},
  booktitle={2021 International Conference on Robotics and Automation (ICRA 2021) },
  pages={14346-14352},
  year = "2021"
}

BibTeX

@inproceedings{recedinghorizon-2021/10,
  title={Receding-horizon perceptive trajectory optimization for dynamic legged locomotion with learned initialization},
  author={Melon O, Orsolino R, Surovik D, Geisert M, Havoutis I et al.},
  booktitle={2021 International Conference on Robotics and Automation (ICRA 2021)},
  year = "2021"
}

BibTeX

@inproceedings{elasticandeffic-2021/10,
  title={Elastic and efficient LiDAR reconstruction for large-scale exploration tasks},
  author={Wang Y, Funk N, Ramezani M, Papatheodorou S, Popovic M et al.},
  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA 2021)},
  pages={5035-5041},
  year = "2021"
}

BibTeX

@misc{aerosadaptivero-2021/10,
  title={AEROS: Adaptive RObust least-Squares for Graph-Based SLAM},
  author={Ramezani M, Mattamala M & Fallon M},
  year = "2021"
}

BibTeX

@misc{balancingthebud-2021/9,
  title={Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometry},
  author={Zhang L, Wisth D, Camurri M & Fallon M},
  year = "2021"
}