Multisensor fusion for state estimation via factor graphs by Wisth, D

VILENS: Visual, inertial, lidar, and leg odometry for all-terrain legged robots by Wisth, D, Camurri, M, Fallon, M

Preintegrated velocity bias estimation to overcome contact nonlinearities in legged robot odometry by Wisth, D, Camurri, M, Fallon, M

Robust legged robot state estimation using factor graph optimization by Wisth, D, Camurri, M, Fallon, M

Unified multi-modal landmark tracking for tightly coupled lidar-visual-inertial odometry by Wisth, D, Camurri, M, Das, S, Fallon, M

Balancing the budget: Feature selection and tracking for multi-camera visual-inertial odometry by Zhang, L, Wisth, D, Camurri, M, Fallon, M

The Newer College dataset: handheld LiDAR, inertial and vision with ground truth by Ramezani, M, Wang, Y, Camurri, M, Wisth, D, Mattamala, M, Fallon, M

Towards autonomous inspection of concrete deterioration in sewers with legged robots by Kolvenbach, H, Wisth, D, Buchanan, R, Valsecchi, G, Grandia, R, Fallon, M, Hutter, M

Hilti-Oxford Dataset: a millimeter-accurate benchmark for simultaneous localization and mapping by Zhang, L, Helmberger, M, Fu, LFT, Wisth, D, Camurri, M, Scaramuzza, D, Fallon, M

Team CERBERUS wins the DARPA subterranean challenge: technical overview and lessons learned by Tranzatto, M, Dharmadhikari, M, Bernreiter, L, Camurri, M, Khattak, S, Mascarich, F, Pfreundschuh, P, Wisth, D, Zimmermann, S, Kulkarni, M, Reijgwart, V, Casseau, B, Homberger, T, De Petris, P, Ott, L, Tubby, W, Waibel, G, Nguyen, H, Cadena, C, Buchanan, R, Wellhausen, L, Khedekar, N, Andersson, O, Zhang, L, Miki, T, Dang, T, Mattamala, M, Montenegro, M, Meyer, K, Wu, X, Briod, A, Mueller, M, Siegwart, R, Hutter, M, Fallon, M, Alexis, K

CERBERUS: autonomous legged and aerial robotic exploration in the tunnel and urban circuits of the DARPA Subterranean Challenge by Tranzatto, M, Mascarich, F, Bernreiter, L, Godinho, C, Camurri, M, Khattak, S, Dang, T, Reijgwart, V, Löje, J, Wisth, D, Zimmermann, S, Nguyen, H, Fehr, M, Solanka, L, Buchanan, R, Bjelonic, M, Khedekar, N, Valceschini, M, Jenelten, F, Dharmadhikari, M, Homberger, T, De Petris, P, Wellhausen, L, Kulkarni, M, Miki, T, Hirsch, S, Montenegro, M, Papachristos, C, Tresoldi, F, Carius, J, Valsecchi, G, Lee, J, Meyer, K, Wu, X, Nieto, J, Smith, A, Hutter, M, Siegwart, R, Mueller, M, Fallon, M, Alexis, K