Showing 14 publications
VILENS: Visual, inertial, lidar, and leg odometry for all-terrain legged robots
Wisth D, Camurri M & Fallon M (2022), IEEE Transactions on Robotics
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},
publisher={IEEE},
year = "2022"
}
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge
Tranzatto M, Mascarich F, Bernreiter L, Godinho C, Camurri M et al. (2022), Field Robotics, 2(1), 274-324
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"
}
Hilti-Oxford Dataset: A Millimeter-Accurate Benchmark for Simultaneous Localization and Mapping
Zhang L, Helmberger M, Fu LFT, Wisth D, Camurri M et al. (2022), IEEE Robotics and Automation Letters, 1-8
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"
}
Balancing the budget: Feature selection and tracking for multi-camera visual-inertial odometry
Zhang L, Wisth D, Camurri M & Fallon M (2021), IEEE Robotics and Automation Letters, 7(2), 1182-1189
BibTeX
@article{balancingthebud-2021/12,
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},
publisher={IEEE},
year = "2021"
}
Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometry
Zhang L, Wisth D, Camurri M & Fallon M (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"
}
Unified multi-modal landmark tracking for tightly coupled lidar-visual-inertial odometry
Wisth D, Camurri M, Das S & Fallon M (2021), IEEE Robotics and Automation Letters, 6(2), 1004-1011
BibTeX
@article{unifiedmultimod-2021/2,
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},
publisher={IEEE},
year = "2021"
}
Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry
Wisth D, Camurri M, Das S & Fallon M (2020)
BibTeX
@misc{unifiedmultimod-2020/11,
title={Unified Multi-Modal Landmark Tracking for Tightly Coupled
Lidar-Visual-Inertial Odometry},
author={Wisth D, Camurri M, Das S & Fallon M},
year = "2020"
}
Preintegrated velocity bias estimation to overcome contact nonlinearities in legged robot odometry
Wisth D, Camurri M & Fallon M (2020), 2020 International Conference on Robotics and Automation (ICRA), 392-398
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"
}
Towards autonomous inspection of concrete deterioration in sewers with legged robots
Kolvenbach H, Wisth D, Buchanan R, Valsecchi G, Grandia R et al. (2020), Journal of Field Robotics, 37(8), 1314-1327
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"
}
The Newer College Dataset: Handheld LiDAR, Inertial and Vision with Ground Truth
Ramezani M, Wang Y, Camurri M, Wisth D, Mattamala M et al. (2020)
BibTeX
@misc{thenewercollege-2020/3,
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.},
year = "2020"
}
The Newer College Dataset: Handheld LiDAR, Inertial and Vision with Ground Truth
Ramezani M, Wang Y, Camurri M, Wisth D, Mattamala M et al. (2020), 2020 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 4353-4360
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"
}
Preintegrated Velocity Bias Estimation to Overcome Contact Nonlinearities in Legged Robot Odometry
Wisth D, Camurri M & Fallon M (2019)
BibTeX
@misc{preintegratedve-2019/10,
title={Preintegrated Velocity Bias Estimation to Overcome Contact
Nonlinearities in Legged Robot Odometry},
author={Wisth D, Camurri M & Fallon M},
year = "2019"
}
Robust legged robot state estimation using factor graph optimization
Wisth D, Camurri M & Fallon M (2019), IEEE Robotics and Automation Letters
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"
}
Robust Legged Robot State Estimation Using Factor Graph Optimization
Wisth D, Camurri M & Fallon M (2019)
BibTeX
@misc{robustleggedrob-2019/4,
title={Robust Legged Robot State Estimation Using Factor Graph Optimization},
author={Wisth D, Camurri M & Fallon M},
year = "2019"
}