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David Wisth
David Wisth
Co-Founder & CTO, NavLive
Adresse e-mail validée de navlive.co.uk
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The Newer College Dataset: Handheld LiDAR, inertial and vision with ground truth
M Ramezani, Y Wang, M Camurri, D Wisth, M Mattamala, M Fallon
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2020
2142020
Unified multi-modal landmark tracking for tightly coupled lidar-visual-inertial odometry
D Wisth, M Camurri, S Das, M Fallon
IEEE Robotics and Automation Letters 6 (2), 1004-1011, 2021
1392021
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge
M Tranzatto, F Mascarich, L Bernreiter, C Godinho, M Camurri, ...
Field Robotics, 2021
1382021
VILENS: Visual, inertial, lidar, and leg odometry for all-terrain legged robots
D Wisth, M Camurri, M Fallon
IEEE Transactions on Robotics 39 (1), 309-326, 2022
1252022
Robust legged robot state estimation using factor graph optimization
D Wisth, M Camurri, M Fallon
IEEE Robotics and Automation Letters 4 (4), 4507-4514, 2019
1002019
Towards autonomous inspection of concrete deterioration in sewers with legged robots
H Kolvenbach, D Wisth, R Buchanan, G Valsecchi, R Grandia, M Fallon, ...
Journal of field robotics 37 (8), 1314-1327, 2020
632020
Hilti-oxford dataset: A millimeter-accurate benchmark for simultaneous localization and mapping
L Zhang, M Helmberger, LFT Fu, D Wisth, M Camurri, D Scaramuzza, ...
IEEE Robotics and Automation Letters 8 (1), 408-415, 2022
592022
Multi-camera LiDAR inertial extension to the newer college dataset
L Zhang, M Camurri, D Wisth, M Fallon
arXiv preprint arXiv:2112.08854v3, 2022
522022
Team cerberus wins the darpa subterranean challenge: Technical overview and lessons learned
M Tranzatto, M Dharmadhikari, L Bernreiter, M Camurri, S Khattak, ...
arXiv preprint arXiv:2207.04914, 2022
442022
Preintegrated velocity bias estimation to overcome contact nonlinearities in legged robot odometry
D Wisth, M Camurri, M Fallon
2020 IEEE International Conference on Robotics and Automation (ICRA), 392-398, 2020
332020
Balancing the budget: Feature selection and tracking for multi-camera visual-inertial odometry
L Zhang, D Wisth, M Camurri, M Fallon
IEEE Robotics and Automation Letters 7 (2), 1182-1189, 2021
292021
Hilti SLAM challenge submission: Vilens and SLAM
M Camurri, L Zhang, D Wisth, M Fallon
tech. rep, 2022
22022
Multisensor fusion for state estimation via factor graphs
D Wisth
University of Oxford, 2021
2021
VILENS: A Visual Inertial Legged Navigation System based on Factor Graphs
D Wisth, M Camurri, M Fallon
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