Multi-Camera LiDAR Inertial Extension to the Newer College Dataset

no code implementations • 16 Dec 2021 • Lintong Zhang, Marco Camurri, David Wisth, Maurice Fallon

We present a multi-camera LiDAR inertial dataset of 4. 5 km walking distance as an expansion of the Newer College Dataset.

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

no code implementations • 13 Sep 2021 • Lintong Zhang, David Wisth, Marco Camurri, Maurice Fallon

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.

feature selection

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

no code implementations • 15 Jul 2021 • David Wisth, Marco Camurri, Maurice Fallon

This bias is observable because of the tight fusion of this preintegrated velocity factor with vision, lidar, and inertial measurement unit (IMU) factors.

All

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

no code implementations • 13 Nov 2020 • David Wisth, Marco Camurri, Sandipan Das, Maurice Fallon

True integration of lidar features with standard visual features and IMU is made possible using a subtle passive synchronization of lidar and camera frames.

Landmark Tracking