Maurice F. Fallon

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

LiSTA: Geometric Object-Based Change Detection in Cluttered Environments.

[BibT_eX]

[DOI]

Joseph Rowell

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

Tree Instance Segmentation and Traits Estimation for Forestry Environments Exploiting LiDAR Data Collected by Mobile Robots.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

Language-EXtended Indoor SLAM (LEXIS): A Versatile System for Real-time Visual Scene Understanding.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

2023

Observability-Aware Online Multi-Lidar Extrinsic Calibration.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., May, 2023

VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots.

[BibT_eX]

[DOI]

David Wisth

IEEE Trans. Robotics, February, 2023

Hilti-Oxford Dataset: A Millimeter-Accurate Benchmark for Simultaneous Localization and Mapping.

[BibT_eX]

[DOI]

Michael Helmberger

IEEE Robotics Autom. Lett., 2023

Deep IMU Bias Inference for Robust Visual-Inertial Odometry With Factor Graphs.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2023

Osprey: Multi-Session Autonomous Aerial Mapping with LiDAR-based SLAM and Next Best View Planning.

[BibT_eX]

[DOI]

CoRR, 2023

Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection.

[BibT_eX]

[DOI]

CoRR, 2023

Real-time LIDAR localization in natural and urban environments.

[BibT_eX]

[DOI]

CoRR, 2023

InstaLoc: One-shot Global Lidar Localisation in Indoor Environments through Instance Learning.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XIX, Daegu, 2023

Fast Traversability Estimation for Wild Visual Navigation.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XIX, Daegu, 2023

M-LIO: Multi-lidar, multi-IMU odometry with sensor dropout tolerance.

[BibT_eX]

[DOI]

Proceedings of the IEEE Intelligent Vehicles Symposium, 2023

Extrinsic Calibration of Camera to LIDAR Using a Differentiable Checkerboard Model.

[BibT_eX]

[DOI]

IROS, 2023

Factor Graph Fusion of Raw GNSS Sensing with IMU and Lidar for Precise Robot Localization without a Base Station.

[BibT_eX]

[DOI]

Jonas Beuchert

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Batch Differentiable Pose Refinement for In-The-Wild Camera/LiDAR Extrinsic Calibration.

[BibT_eX]

[DOI]

Proceedings of the Conference on Robot Learning, 2023

2022

CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge.

[BibT_eX]

[DOI]

Field Robotics, March, 2022

RLOC: Terrain-Aware Legged Locomotion Using Reinforcement Learning and Optimal Control.

[BibT_eX]

[DOI]

Siddhant Gangapurwala

IEEE Trans. Robotics, 2022

Strategies for large scale elastic and semantic LiDAR reconstruction.

[BibT_eX]

[DOI]

Robotics Auton. Syst., 2022

Towards real-time forest inventory using handheld LiDAR.

[BibT_eX]

[DOI]

Alexander Proudman

Robotics Auton. Syst., 2022

Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometry.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2022

An Efficient Locally Reactive Controller for Safe Navigation in Visual Teach and Repeat Missions.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2022

AEROS: AdaptivE RObust Least-Squares for Graph-Based SLAM.

[BibT_eX]

[DOI]

Frontiers Robotics AI, 2022

Hilti-Oxford Dataset: A Millimetre-Accurate Benchmark for Simultaneous Localization and Mapping.

[BibT_eX]

[DOI]

Michael Helmberger

CoRR, 2022

Multi-modal curb detection and filtering.

[BibT_eX]

[DOI]

CoRR, 2022

3D Lidar Reconstruction with Probabilistic Depth Completion for Robotic Navigation.

[BibT_eX]

[DOI]

Yifu Tao

Marija Popovic

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Unsupervised Learning of Terrain Representations for Haptic Monte Carlo Localization.

[BibT_eX]

[DOI]

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Extrinsic Calibration and Verification of Multiple Non-overlapping Field of View Lidar Sensors.

[BibT_eX]

[DOI]

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

2021

Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2021

SKD: Keypoint Detection for Point Clouds Using Saliency Estimation.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2021

Multi-Camera LiDAR Inertial Extension to the Newer College Dataset.

[BibT_eX]

[DOI]

CoRR, 2021

iMHS: An Incremental Multi-Hypothesis Smoother.

[BibT_eX]

[DOI]

CoRR, 2021

Navigating by touch: haptic Monte Carlo localization via geometric sensing and terrain classification.

[BibT_eX]

[DOI]

Auton. Robots, 2021

Rapid Stability Margin Estimation for Contact-Rich Locomotion.

[BibT_eX]

[DOI]

Romeo Orsolino

Siddhant Gangapurwala

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks.

[BibT_eX]

[DOI]

Nils Funk

Sotiris Papatheodorou

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Learning Camera Performance Models for Active Multi-Camera Visual Teach and Repeat.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Real-Time Trajectory Adaptation for Quadrupedal Locomotion using Deep Reinforcement Learning.

[BibT_eX]

[DOI]

Siddhant Gangapurwala

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

ICP Localization and Walking Experiments on a TALOS Humanoid Robot.

[BibT_eX]

[DOI]

Proceedings of the 20th International Conference on Advanced Robotics, 2021

Scalable and Elastic LiDAR Reconstruction in Complex Environments Through Spatial Analysis.

[BibT_eX]

[DOI]

Proceedings of the 10th European Conference on Mobile Robots, 2021

Online Estimation of Diameter at Breast Height (DBH) of Forest Trees Using a Handheld LiDAR.

[BibT_eX]

[DOI]

Alexander Proudman

Proceedings of the 10th European Conference on Mobile Robots, 2021

Learning Inertial Odometry for Dynamic Legged Robot State Estimation.

[BibT_eX]

[DOI]

Proceedings of the Conference on Robot Learning, 8-11 November 2021, London, UK., 2021

2020

Towards autonomous inspection of concrete deterioration in sewers with legged robots.

[BibT_eX]

[DOI]

J. Field Robotics, 2020

Pronto: A Multi-Sensor State Estimator for Legged Robots in Real-World Scenarios.

[BibT_eX]

[DOI]

Frontiers Robotics AI, 2020

The Newer College Dataset: Handheld LiDAR, Inertial and Vision with Ground Truth.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Haptic Sequential Monte Carlo Localization for Quadrupedal Locomotion in Vision-Denied Scenarios.

[BibT_eX]

[DOI]

Russell Buchanan

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Preintegrated Velocity Bias Estimation to Overcome Contact Nonlinearities in Legged Robot Odometry.

[BibT_eX]

[DOI]

David Wisth

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Actively Mapping Industrial Structures with Information Gain-Based Planning on a Quadruped Robot.

[BibT_eX]

[DOI]

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Online LiDAR-SLAM for Legged Robots with Robust Registration and Deep-Learned Loop Closure.

[BibT_eX]

[DOI]

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations.

[BibT_eX]

[DOI]

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Learning an Expert Skill-Space for Replanning Dynamic Quadruped Locomotion over Obstacles.

[BibT_eX]

[DOI]

Proceedings of the 4th Conference on Robot Learning, 2020

2019

Robust Legged Robot State Estimation Using Factor Graph Optimization.

[BibT_eX]

[DOI]

David Wisth

IEEE Robotics Autom. Lett., 2019

Learning to See the Wood for the Trees: Deep Laser Localization in Urban and Natural Environments on a CPU.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2019

SKD: Unsupervised Keypoint Detecting for Point Clouds using Embedded Saliency Estimation.

[BibT_eX]

[DOI]

CoRR, 2019

Multi-controller multi-objective locomotion planning for legged robots.

[BibT_eX]

[DOI]

Martim Brandão

Ioannis Havoutis

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Learning-driven Coarse-to-Fine Articulated Robot Tracking.

[BibT_eX]

[DOI]

Christian Rauch

Vladimir Ivan

Timothy M. Hospedales

Jamie Shotton

Proceedings of the International Conference on Robotics and Automation, 2019

2018

Seeing the Wood for the Trees: Reliable Localization in Urban and Natural Environments.

[BibT_eX]

[DOI]

Simona Nobili

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

StaticFusion: Background Reconstruction for Dense RGB-D SLAM in Dynamic Environments.

[BibT_eX]

[DOI]

Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Visual Articulated Tracking in the Presence of Occlusions.

[BibT_eX]

[DOI]

Christian Rauch

Timothy M. Hospedales

Jamie Shotton

Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Predicting Alignment Risk to Prevent Localization Failure.

[BibT_eX]

[DOI]

Simona Nobili

Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

2017

Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2017

Director: A User Interface Designed for Robot Operation with Shared Autonomy.

[BibT_eX]

[DOI]

Claudia Pérez-D'Arpino

J. Field Robotics, 2017

Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XIII, 2017

Direct visual SLAM fusing proprioception for a humanoid robot.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Overlap-based ICP tuning for robust localization of a humanoid robot.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Robust shared autonomy for mobile manipulation with continuous scene monitoring.

[BibT_eX]

[DOI]

Proceedings of the 13th IEEE Conference on Automation Science and Engineering, 2017

2016

iDRM: Humanoid Motion Planning with Real-Time End-Pose Selection in Complex Environments.

[BibT_eX]

[DOI]

CoRR, 2016

Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot.

[BibT_eX]

[DOI]

Auton. Robots, 2016

iDRM: Humanoid motion planning with realtime end-pose selection in complex environments.

[BibT_eX]

[DOI]

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

2015

An Architecture for Online Affordance-based Perception and Whole-body Planning.

[BibT_eX]

[DOI]

Claudia Pérez-D'Arpino

J. Field Robotics, 2015

Real-time large-scale dense RGB-D SLAM with volumetric fusion.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2015

Continuous humanoid locomotion over uneven terrain using stereo fusion.

[BibT_eX]

[DOI]

Proceedings of the 15th IEEE-RAS International Conference on Humanoid Robots, 2015

2014

A summary of team MIT's approach to the virtual robotics challenge.

[BibT_eX]

[DOI]

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Drift-free humanoid state estimation fusing kinematic, inertial and LIDAR sensing.

[BibT_eX]

[DOI]

Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots, 2014

2013

The MIT Stata Center dataset.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2013

Temporally scalable visual SLAM using a reduced pose graph.

[BibT_eX]

[DOI]

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Spatially Prioritized and Persistent Text Detection and Decoding.

[BibT_eX]

[DOI]

Proceedings of the Camera-Based Document Analysis and Recognition, 2013

2012

Acoustic Source Localization and Tracking of a Time-Varying Number of Speakers.

[BibT_eX]

[DOI]

Simon J. Godsill

IEEE Trans. Speech Audio Process., 2012

Sensor fusion for flexible human-portable building-scale mapping.

[BibT_eX]

[DOI]

Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Efficient scene simulation for robust monte carlo localization using an RGB-D camera.

[BibT_eX]

[DOI]

Hordur Johannsson

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

2011

Efficient AUV navigation fusing acoustic ranging and side-scan sonar.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2011

2010

Acoustic Source Localization and Tracking Using Track Before Detect.

[BibT_eX]

[DOI]

Simon J. Godsill

IEEE Trans. Speech Audio Process., 2010

Cooperative AUV Navigation using a Single Maneuvering Surface Craft.

[BibT_eX]

[DOI]

Nicholas M. Patrikalakis

Int. J. Robotics Res., 2010

Mapping Complex Marine Environments with Autonomous Surface Craft.

[BibT_eX]

[DOI]

Jacques C. Leedekerken

Proceedings of the Experimental Robotics, 2010

Cooperative localization of marine vehicles using nonlinear state estimation.

[BibT_eX]

[DOI]

Nicholas M. Patrikalakis

Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

A measurement distribution framework for cooperative navigation using multiple AUVs.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

2009

Cooperative Localization for Autonomous Underwater Vehicles.

[BibT_eX]

[DOI]

Alexander Bahr

Int. J. Robotics Res., 2009

Cooperative AUV Navigation Using a Single Surface Craft.

[BibT_eX]

[DOI]