Publications

BibTeX

@article{observabilityaw-2023/1,
  title={Observability-aware online multi-lidar extrinsic calibration},
  author={Das S, Klinteberg LA, Fallon M & Chatterjee S},
  journal={IEEE Robotics and Automation Letters},
  year = "2023"
}

BibTeX

@article{towardsrealtime-2022/11,
  title={Towards real-time forest inventory using handheld LiDAR},
  author={Proudman A, Ramezani M, Digumarti ST, Chebrolu N & Fallon M},
  journal={Robotics and Autonomous Systems},
  volume={157},
  year = "2022"
}

BibTeX

@article{strategiesforla-2022/9,
  title={Strategies for large scale elastic and semantic LiDAR reconstruction},
  author={Wang Y, Ramezani M, Mattamala M, Digumarti ST & Fallon M},
  journal={Robotics and Autonomous Systems},
  volume={155},
  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},
  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{hiltioxforddata-2022/,
  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},
  pages={1-8},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  year = "2022"
}

BibTeX

@inproceedings{icplocalization-2021/12,
  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)},
  year = "2021"
}

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"
}

@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

@article{navigatingbytou-2021/9,
  title={Navigating by touch: haptic Monte Carlo localization via geometric sensing and terrain classification},
  author={Buchanan R, Bednarek J, Camurri M, Nowicki MR, Walas K et al.},
  journal={AUTONOMOUS ROBOTS},
  volume={45},
  pages={843-857},
  year = "2021"
}

BibTeX

@inproceedings{scalableandelas-2021/8,
  title={Scalable and elastic LiDAR reconstruction in complex environments through spatial analysis},
  author={Wang Y, Ramezani M, Mattamala M & Fallon M},
  year = "2021"
}

BibTeX

@inproceedings{onlineestimatio-2021/8,
  title={Online estimation of diameter at breast height (DBH) of forest trees using a handheld lidar},
  author={Proudman A, Ramezani M & Fallon M},
  year = "2021"
}

BibTeX

@article{unifiedmultimod-2021/4,
  title={Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry},
  author={Wisth D, Camurri M, Das S & Fallon M},
  journal={IEEE ROBOTICS AND AUTOMATION LETTERS},
  volume={6},
  pages={1004-1011},
  year = "2021"
}

BibTeX

@article{skdkeypointdete-2021/3,
  title={SKD: keypoint detection for point clouds using saliency estimation},
  author={Tinchev G, Penate Sanchez A & Fallon M},
  journal={IEEE Robotics and Automation Letters},
  volume={6},
  pages={3785-3792},
  publisher={Institute of Electrical and Electronics Engineers},
  year = "2021"
}

BibTeX

@inproceedings{hapticsequentia-2021/2,
  title={Haptic sequential Monte Carlo localization for quadrupedal locomotion in vision-denied scenarios},
  author={Buchanan R, Camurri M & Fallon M},
  booktitle={2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={3657-3663},
  year = "2021"
}

BibTeX

@article{onlinelidarslam-2020/9,
  title={Online LiDAR-SLAM for legged robots with robust registration and deep-learned loop closure},
  author={Ramezani M, Tinchev G, Iuganov E & Fallon M},
  journal={IEEE Robotics and Automation Letters},
  pages={4158-4164},
  publisher={Institute of Electrical and Electronics Engineers},
  year = "2020"
}

BibTeX

@inproceedings{preintegratedve-2020/9,
  title={Preintegrated velocity bias estimation to overcome contact nonlinearities in legged robot odometry},
  author={Wisth D, Camurri M & Fallon M},
  booktitle={ICRA 2020},
  pages={392-398},
  year = "2020"
}

BibTeX

@inproceedings{reliabletraject-2020/9,
  title={Reliable trajectories for dynamic quadrupeds using analytical costs and learned initializations},
  author={Melon O, Geisert M, Surovik D, Havoutis I & Fallon M},
  booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={1410-1416},
  year = "2020"
}

BibTeX

@inproceedings{activelymapping-2020/8,
  title={Actively mapping industrial structures with information gain-based planning on a quadruped robot},
  author={Wang Y, Ramezani M & Fallon M},
  booktitle={IEEE Intl. Conf. on Robotics and Automation (ICRA), 2020.},
  year = "2020"
}

BibTeX

@article{prontoamultisen-2020/6,
  title={Pronto: A multi-sensor state estimator for legged robots in real-world scenarios},
  author={Camurri M, Ramezani M, Nobili S & Fallon M},
  journal={Frontiers in Robotics and AI},
  volume={7},
  publisher={Frontiers Media },
  year = "2020"
}

BibTeX

@article{towardsautonomo-2020/5,
  title={Towards autonomous inspection of concrete deterioration in sewers with legged robots},
  author={Kolvenbach H, Wisth D, Buchanan R, Valsecchi G, Grandia R et al.},
  journal={Journal of Field Robotics},
  volume={37},
  pages={1314-1327},
  publisher={Wiley},
  year = "2020"
}

BibTeX

@inproceedings{leggedrobotsfor-2020/4,
  title={Legged robots for autonomous inspection and monitoring of offshore assets},
  author={Ramezani M, Brandao M, Casseau B, Havoutis I & Fallon M},
  booktitle={Offshore Technology Conference},
  year = "2020"
}

BibTeX

@inproceedings{thenewercollege-2020/,
  title={The Newer College Dataset: Handheld LiDAR, Inertial and Vision with Ground Truth},
  author={Ramezani M, Wang Y, Camurri M, Wisth D, Mattamala M et al.},
  pages={4353-4360},
  year = "2020"
}

BibTeX

@inproceedings{learningdrivenc-2019/8,
  title={Learning-driven coarse-to-fine articulated robot tracking},
  author={Rauch C, Ivan V, Hospedales T, Shotton J & Fallon M},
  pages={6604-6610},
  year = "2019"
}

BibTeX

@article{robustleggedrob-2019/8,
  title={Robust legged robot state estimation using factor graph optimization},
  author={Wisth D, Camurri M & Fallon M},
  journal={IEEE Robotics and Automation Letters},
  publisher={Institute of Electrical and Electronics Engineers},
  year = "2019"
}

BibTeX

@article{learningtoseeth-2019/4,
  title={Learning to See the Wood for the Trees: Deep Laser Localization in Urban and Natural Environments on a CPU},
  author={Tinchev G, Penate-Sanchez A & Fallon M},
  journal={IEEE ROBOTICS AND AUTOMATION LETTERS},
  volume={4},
  pages={1327-1334},
  year = "2019"
}

BibTeX

@inproceedings{seeingthewoodfo-2019/1,
  title={Seeing the wood for the trees: reliable localization in urban and natural environments},
  author={Tinchev G, Nobili S & Fallon M},
  pages={8239-8246},
  year = "2019"
}

BibTeX

@inproceedings{learningtoseeth-2019/1,
  title={Learning to see the wood for the trees: Deep laser localization in urban and natural environments on a CPU},
  author={Fallon M, Tinchev G & Penate-Sanchez A},
  pages={1327-1334},
  year = "2019"
}

BibTeX

@inproceedings{predictingalign-2018/9,
  title={Predicting alignment risk to prevent localization failure},
  author={Nobili S, Tinchev G & Fallon M},
  year = "2018"
}

BibTeX

@inproceedings{visualarticulat-2018/9,
  title={Visual articulated tracking in the presence of occlusions},
  author={Rauch C, Hospedales T, Shotton J & Fallon M},
  pages={643-650},
  year = "2018"
}

BibTeX

@inproceedings{staticfusionbac-2018/9,
  title={StaticFusion: background reconstruction for dense RGB-D SLAM in dynamic environments},
  author={Scona R, Jaimez M, Petillot YR, Fallon M & Cremers D},
  pages={3849-3856},
  year = "2018"
}

BibTeX

@article{accurateandrobu-2018/6,
  title={Accurate and robust localization for walking robots fusing kinematics, inertial, vision and LIDAR},
  author={Fallon M},
  journal={Interface Focus},
  volume={8},
  publisher={Royal Society Publishing},
  year = "2018"
}

BibTeX

@misc{directorauserin-2018/1,
  title={Director: A user interface designed for robot operation with shared autonomy},
  author={Marion P, Fallon M, Deits R, Valenzuela A, D’Arpino CP et al.},
  year = "2018"
}

BibTeX

@misc{sensorfusionand-2018/1,
  title={Sensor Fusion and State Estimation of the Robot},
  author={Nori F, Traversaro S & Fallon M},
  year = "2018"
}

BibTeX

@inproceedings{heterogeneousse-2017/7,
  title={Heterogeneous sensor fusion for accurate state estimation of dynamic legged robots},
  author={Nobili S, Camurri M, Barasuol V, Focchi M, Caldwell D et al.},
  year = "2017"
}

BibTeX

@inproceedings{overlapbasedicp-2017/7,
  title={Overlap-based ICP tuning for robust localization of a humanoid robot},
  author={Nobili S, Scona R, Caravagna M & Fallon M},
  pages={4721-4728},
  year = "2017"
}

BibTeX

@article{probabilisticco-2017/4,
  title={Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots},
  author={Catnurri M, Falion M, Bazeille S, Radulescu A, Barasuol V et al.},
  journal={IEEE ROBOTICS AND AUTOMATION LETTERS},
  volume={2},
  pages={1023-1030},
  year = "2017"
}

@inproceedings{robustsharedaut-2017/,
  title={Robust Shared Autonomy for Mobile Manipulation with Continuous Scene Monitoring},
  author={Merkt W, Yang Y, Stouraitis T, Mower CE, Fallon M et al.},
  pages={130-137},
  year = "2017"
}

@inproceedings{directvisualsla-2017/,
  title={Direct Visual SLAM Fusing Proprioception for a Humanoid Robot},
  author={Scona R, Nobili S, Petillot YR & Fallon M},
  pages={1419-1426},
  year = "2017"
}

BibTeX

@article{directorauserin-2016/12,
  title={Director: A user interface designed for robot operation with shared autonomy},
  author={Marion P, Fallon M, Deits R, Valenzuela A, Pérez D'Arpino C et al.},
  journal={Journal of Field Robotics},
  volume={34},
  pages={262-280},
  publisher={John Wiley and Sons, Ltd.},
  year = "2016"
}

BibTeX

@article{optimizationbas-2016/3,
  title={Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot},
  author={Kuindersma S, Deits R, Fallon M, Valenzuela A, Dai H et al.},
  journal={Autonomous Robots},
  volume={40},
  pages={429-455},
  year = "2016"
}

BibTeX

@inproceedings{perceptionandes-2016/,
  title={Perception and estimation challenges for humanoid robotics: DARPA Robotics Challenge and the NASA Valkyrie},
  author={Fallon M},
  year = "2016"
}

@inproceedings{idrmhumanoidmot-2016/,
  title={iDRM: Humanoid Motion Planning with Realtime End-Pose Selection in Complex Environments},
  author={Yang Y, Ivan V, Li Z, Fallon M & Vijayakumar S},
  pages={271-278},
  year = "2016"
}

BibTeX

@inproceedings{continuoushuman-2015/12,
  title={Continuous humanoid locomotion over uneven terrain using stereo fusion},
  author={Fallon MF, Marion P, Deits R, Whelan T, Antone M et al.},
  pages={881-888},
  year = "2015"
}

BibTeX

@article{realtimelargesc-2015/4,
  title={Real-time large-scale dense RGB-D SLAM with volumetric fusion},
  author={Whelan T, Kaess M, Johannsson H, Fallon M, Leonard JJ et al.},
  journal={INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH},
  volume={34},
  pages={598-626},
  year = "2015"
}