Zobrazeno 1 - 10
of 49
pro vyhledávání: '"Marco Camurri"'
Publikováno v:
Frontiers in Robotics and AI, Vol 7 (2020)
In this paper, we present a modular and flexible state estimation framework for legged robots operating in real-world scenarios, where environmental conditions, such as occlusions, low light, rough terrain, and dynamic obstacles can severely impair e
Externí odkaz:
https://doaj.org/article/6c6d7d74e267458d878b19d15fcb8e0a
Visual Inertial Odometry (VIO) is one of the most established state estimation methods for mobile platforms. However, when visual tracking fails, VIO algorithms quickly diverge due to rapid error accumulation during inertial data integration. This er
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::310eeeccc9c22f8f2327938d81a1b185
http://arxiv.org/abs/2211.04517
http://arxiv.org/abs/2211.04517
Autor:
Michał Nowicki, Marco Camurri, Maurice Fallon, Russell Buchanan, Krzysztof Walas, Jakub Bednarek
Publikováno v:
Buchanan, R, Bednarek, J, Camurri, M, Nowicki, M R, Walas, K & Fallon, M 2021, ' Navigating by touch : Haptic Monte Carlo localization via geometric sensing and terrain classification ', Autonomous Robots, vol. 45, no. 6, pp. 843-857 . https://doi.org/10.1007/s10514-021-10013-w
Legged robot navigation in extreme environments can hinder the use of cameras and laser scanners due to darkness, air obfuscation or sensor damage. In these conditions, proprioceptive sensing will continue to work reliably. In this paper, we propose
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:
Mikolaj Lysakowski, Michal R. Nowicki, Russell Buchanan, Marco Camurri, Maurice Fallon, Krzysztof Walas
Haptic sensing has recently been used effectively for legged robot localization in extreme scenarios where cam-eras and LiDAR might fail, such as dusty mines and foggy sewers. However, existing haptic sensing mainly relies on supervised classificatio
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::5f2988468e16a5df5f96d62f434c241a
https://ora.ox.ac.uk/objects/uuid:5729c2b2-23f5-4df5-b775-e2b595bf3c65
https://ora.ox.ac.uk/objects/uuid:5729c2b2-23f5-4df5-b775-e2b595bf3c65
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:
IROS
Continuous robot operation in extreme scenarios such as underground mines or sewers is difficult because exteroceptive sensors may fail due to fog, darkness, dirt or malfunction. So as to enable autonomous navigation in these kinds of situations, we
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::a7b0ae72524d21d37e8e48d4552d1db8
https://doi.org/10.1109/iros45743.2020.9341128
https://doi.org/10.1109/iros45743.2020.9341128