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David Wisth
David Wisth
Oxford Robotics Institute, University of Oxford
Verified email at robots.ox.ac.uk - Homepage
Title
Cited by
Cited by
Year
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
692020
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
482021
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
482019
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
412021
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
292020
VILENS: Visual, inertial, lidar, and leg odometry for all-terrain legged robots
D Wisth, M Camurri, M Fallon
IEEE Transactions on Robotics, 2022
252022
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
202020
Multi-camera LiDAR inertial extension to the newer college dataset
L Zhang, M Camurri, D Wisth, M Fallon
arXiv preprint arXiv:2112.08854v3, 2022
62022
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
62021
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
22022
Hilti-Oxford Dataset: A Millimetre-Accurate Benchmark for Simultaneous Localization and Mapping
L Zhang, M Helmberger, LFT Fu, D Wisth, M Camurri, D Scaramuzza, ...
arXiv preprint arXiv:2208.09825, 2022
12022
Hilti slam challenge submission: Vilens and slam
M Camurri, L Zhang, D Wisth, M Fallon
hilti-challenge, 2021
12021
Multisensor fusion for state estimation via factor graphs
D Wisth
University of Oxford, 2021
2021
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