Zobrazeno 1 - 8
of 8
pro vyhledávání: '"David Wisth"'
Autor:
Marco Tranzatto, Mihir Kulkarni, Victor Reijgwart, Benoit Casseau, Timon Homberger, Paolo De Petris, Lionel Ott, Wayne Tubby, Gabriel Waibel, Huan Nguyen, Cesar Cadena, Mihir Dharmadhikari, Russell Buchanan, Lorenz Wellhausen, Nikhil Khedekar, Olov Andersson, Lintong Zhang, Takahiro Miki, Tung Dang, Matias Mattamala, Markus Montenegro, Konrad Meyer, Lukas Bernreiter, Xiangyu Wu, Adrien Briod, Mark Mueller, Maurice Fallon, Roland Siegwart, Marco Hutter, Kostas Alexis, Marco Camurri, Shehryar Khattak, Frank Mascarich, Patrick Pfreundschuh, David Wisth, Samuel Zimmermann
Publikováno v:
Web of Science
This article presents the CERBERUS robotic system-of-systems, which won the DARPA Subterranean Challenge Final Event in 2021. The Subterranean Challenge was organized by DARPA with the vision to facilitate the novel technologies necessary to reliably
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::66c702eb37fa951ae6621a93f0b98aba
http://arxiv.org/abs/2207.04914
http://arxiv.org/abs/2207.04914
We present a multi-camera visual-inertial odometry system based on factor graph optimization which estimates motion by using all cameras simultaneously while retaining a fixed overall feature budget. We focus on motion tracking in challenging environ
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::0dba73c89ba767dd7f6c479f50e0e9f2
https://ora.ox.ac.uk/objects/uuid:9a902291-4cd2-4a16-a0fc-75ccc3c6b368
https://ora.ox.ac.uk/objects/uuid:9a902291-4cd2-4a16-a0fc-75ccc3c6b368
Autor:
Marco Tranzatto, Frank Mascarich, Lukas Bernreiter, Carolina Godinho, Marco Camurri, Shehryar Khattak, Tung Dang, Victor Reijgwart, Johannes Löje, David Wisth, Samuel Zimmermann, Huan Nguyen, Marius Fehr, Lukas Solanka, Russell Buchanan, Marko Bjelonic, Nikhil Khedekar, Mathieu Valceschini, Fabian Jenelten, Mihir Dharmadhikari, Timon Homberger, Paolo De Petris, Lorenz Wellhausen, Mihir Kulkarni, Takahiro Miki, Satchel Hirsch, Markus Montenegro, Christos Papachristos, Fabian Tresoldi, Jan Carius, Giorgio Valsecchi, Joonho Lee, Konrad Meyer, Xiangyu Wu, Juan Nieto, Andy Smith, Marco Hutter, Roland Siegwart, Mark Mueller, Maurice Fallon, Kostas Alexis
Publikováno v:
Field Robotics, 2
Field Robotics
Field Robotics
Autonomous exploration of subterranean environments constitutes a major frontier for robotic systems, as underground settings present key challenges that can render robot autonomy hard to achieve. This problem has motivated the DARPA Subterranean Cha
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::53fa9040a9f45dfd3e0bd89a8d017b0c
https://hdl.handle.net/20.500.11850/489726
https://hdl.handle.net/20.500.11850/489726
Autor:
Lintong Zhang, Michael Helmberger, Lanke Frank Tarimo Fu, David Wisth, Marco Camurri, Davide Scaramuzza, Maurice Fallon
Simultaneous Localization and Mapping (SLAM) is being deployed in real-world applications, however many state-of-the-art solutions still struggle in many common scenarios. A key necessity in progressing SLAM research is the availability of high-quali
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::8bd6ec8c9a3fbd3c4b430f4c9a0d7225
We present VILENS (Visual Inertial Lidar Legged Navigation System), an odometry system for legged robots based on factor graphs. The key novelty is the tight fusion of four different sensor modalities to achieve reliable operation when the individual
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::a049e3cafc2dc2cf651c5a3dbf792906
http://arxiv.org/abs/2107.07243
http://arxiv.org/abs/2107.07243
Publikováno v:
IEEE Robotics and Automation Letters
We present an efficient multi-sensor odometry system for mobile platforms that jointly optimizes visual, lidar, and inertial information within a single integrated factor graph. This runs in real-time at full framerate using fixed lag smoothing. To p
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::b4cfd3ea45806fb0870cde61f595e42d
http://arxiv.org/abs/2011.06838
http://arxiv.org/abs/2011.06838
Publikováno v:
IROS
In this paper, we present a large dataset with a variety of mobile mapping sensors collected using a handheld device carried at typical walking speeds for nearly 2.2 km around New College, Oxford as well as a series of supplementary datasets with muc
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::e9bacc6004f8a65c84785976d66a771d
Legged robots, specifically quadrupeds, are becoming increasingly attractive for industrial applications such as inspection. However, to leave the laboratory and to become useful to an end user requires reliability in harsh conditions. From the persp
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::272aa8a3e50b35b3053a46916a924e0a
http://arxiv.org/abs/1904.03048
http://arxiv.org/abs/1904.03048