Biography
David joined the Oxford Robotics Institute in January 2018 as a DPhil student at St Hugh’s College and was supervised by Dr Maurice Fallon. He completed his BSc (Electrical Engineering) and MEng (Mechatronics) at the University of Melbourne. His final year thesis focused on object manipulation using the dual-arm Baxter robot for the RoboCup@Home challenge. After his studies, David joined Siemens (Australia) as a Graduate Engineer where he completed the two year Siemens Graduate Program. He then moved on to become a Systems & Communications Engineer within the Siemens Railway Signalling and Control group, working on projects across Australia.
His research interests at the Oxford Robotics Institute were centered around the localisation, mapping and path planning of legged robots. When not in the lab, David enjoys travelling and cycling.
Recent Publications
VILENS: Visual, inertial, lidar, and leg odometry for all-terrain legged robots
Wisth D, Camurri M & Fallon M (2022), IEEE Transactions on Robotics
BibTeX
@article{vilensvisualine-2022/8,
title={VILENS: Visual, inertial, lidar, and leg odometry for all-terrain legged robots},
author={Wisth D, Camurri M & Fallon M},
journal={IEEE Transactions on Robotics},
publisher={IEEE},
year = "2022"
}
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge
Tranzatto M, Mascarich F, Bernreiter L, Godinho C, Camurri M et al. (2022), Field Robotics, 2(1), 274-324
BibTeX
@article{cerberusautonom-2022/3,
title={CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge},
author={Tranzatto M, Mascarich F, Bernreiter L, Godinho C, Camurri M et al.},
journal={Field Robotics},
volume={2},
pages={274-324},
publisher={Field Robotics Publication Society},
year = "2022"
}
Hilti-Oxford Dataset: A Millimeter-Accurate Benchmark for Simultaneous Localization and Mapping
Zhang L, Helmberger M, Fu LFT, Wisth D, Camurri M et al. (2022), IEEE Robotics and Automation Letters, 1-8
BibTeX
@article{hiltioxforddata-2022/,
title={Hilti-Oxford Dataset: A Millimeter-Accurate Benchmark for Simultaneous Localization and Mapping},
author={Zhang L, Helmberger M, Fu LFT, Wisth D, Camurri M et al.},
journal={IEEE Robotics and Automation Letters},
pages={1-8},
publisher={Institute of Electrical and Electronics Engineers (IEEE)},
year = "2022"
}
Balancing the budget: Feature selection and tracking for multi-camera visual-inertial odometry
Zhang L, Wisth D, Camurri M & Fallon M (2021), IEEE Robotics and Automation Letters, 7(2), 1182-1189
BibTeX
@article{balancingthebud-2021/12,
title={Balancing the budget: Feature selection and tracking for multi-camera visual-inertial odometry},
author={Zhang L, Wisth D, Camurri M & Fallon M},
journal={IEEE Robotics and Automation Letters},
volume={7},
pages={1182-1189},
publisher={IEEE},
year = "2021"
}
Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometry
Zhang L, Wisth D, Camurri M & Fallon M (2021)
BibTeX
@misc{balancingthebud-2021/9,
title={Balancing the Budget: Feature Selection and Tracking for Multi-Camera
Visual-Inertial Odometry},
author={Zhang L, Wisth D, Camurri M & Fallon M},
year = "2021"
}
Unified multi-modal landmark tracking for tightly coupled lidar-visual-inertial odometry
Wisth D, Camurri M, Das S & Fallon M (2021), IEEE Robotics and Automation Letters, 6(2), 1004-1011
BibTeX
@article{unifiedmultimod-2021/2,
title={Unified multi-modal landmark tracking for tightly coupled lidar-visual-inertial odometry},
author={Wisth D, Camurri M, Das S & Fallon M},
journal={IEEE Robotics and Automation Letters},
volume={6},
pages={1004-1011},
publisher={IEEE},
year = "2021"
}
Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry
Wisth D, Camurri M, Das S & Fallon M (2020)
BibTeX
@misc{unifiedmultimod-2020/11,
title={Unified Multi-Modal Landmark Tracking for Tightly Coupled
Lidar-Visual-Inertial Odometry},
author={Wisth D, Camurri M, Das S & Fallon M},
year = "2020"
}
Preintegrated velocity bias estimation to overcome contact nonlinearities in legged robot odometry
Wisth D, Camurri M & Fallon M (2020), 2020 International Conference on Robotics and Automation (ICRA), 392-398
BibTeX
@inproceedings{preintegratedve-2020/9,
title={Preintegrated velocity bias estimation to overcome contact nonlinearities in legged robot odometry},
author={Wisth D, Camurri M & Fallon M},
booktitle={ICRA 2020},
pages={392-398},
year = "2020"
}
Towards autonomous inspection of concrete deterioration in sewers with legged robots
Kolvenbach H, Wisth D, Buchanan R, Valsecchi G, Grandia R et al. (2020), Journal of Field Robotics, 37(8), 1314-1327
BibTeX
@article{towardsautonomo-2020/5,
title={Towards autonomous inspection of concrete deterioration in sewers with legged robots},
author={Kolvenbach H, Wisth D, Buchanan R, Valsecchi G, Grandia R et al.},
journal={Journal of Field Robotics},
volume={37},
pages={1314-1327},
publisher={Wiley},
year = "2020"
}
The Newer College Dataset: Handheld LiDAR, Inertial and Vision with Ground Truth
Ramezani M, Wang Y, Camurri M, Wisth D, Mattamala M et al. (2020)
BibTeX
@misc{thenewercollege-2020/3,
title={The Newer College Dataset: Handheld LiDAR, Inertial and Vision with
Ground Truth},
author={Ramezani M, Wang Y, Camurri M, Wisth D, Mattamala M et al.},
year = "2020"
}
