VILENS - Visual-Inertial Odometry for Legged Robots VILENS (Visual Inertial Legged Navigation System) is a factor-graph based odometry algorithm for legged robots that fuses leg odometry, vision, and IMU data. This algorithm was designed by David Wisth, Marco Camurri, and Maurice Fallon at the Oxford Robotics Institute (ORI). The papers describing this work are listed below. [...]
In a cold, wet week at the beginning of October, a team from Oxford Robotics Institute headed north to Blyth, near Newcastle, for the ORCA Hub demonstrations. A large warehouse, normally used for testing off-shore wind turbines, hosted teams from a number of different universities, all keen to demonstrate their advances in research in [...]
Russell joined ORI in 2019 and is supervised by Maurice Fallon.
Matias joined ORI in 2019 and is supervised by Maurice Fallon.
David joined ORI in 2019 and is supervised by Ioannis Havoutis.
Alex joined ORI in 2019 and is supervised by Ioannis Havoutis and Ingmar Posner.
Romeo joined ORI in October 2019 and works with Maurice Fallon.
Actively Mapping Industrial Structures with Information Gain-Based Planning on a Quadruped Robot Yiduo Wang, Milad Ramezani and Maurice Fallon IEEE International Conference on Robotics and Automation Abstract In this paper, we develop an online active mapping system to enable a quadruped robot to autonomously survey large physical structures. We describe the perception, planning and control [...]
DARPA SubT Challenge Marco Camurri describes his recent trip to the DARPA SubT Challenge On Aug 15th to 22nd, 11 teams from all around the world gathered in Pittsburgh for the Tunnel Circuit of the DARPA SubT Challenge, an international robotics competition dedicated to autonomous underground exploration. Each team had to locate a [...]
Last week a group from ORI attended the Towards Autonomous Robotic Systems (TAROS) 2019 Conference. The conference this year was held at the newly build Mile End campus of the Queen Mary University of London. Many interesting papers were presented and TAROS this year had an excellent set of keynote talks delivered from leading researchers [...]