Graph-based Multi-sensor Fusion for Consistent Localization of Autonomous Construction Robots

IEEE International Conference on Robotics and Automation (ICRA), 2022

2 March 2022

Julian Nubert

Shehryar Khattak

Marco Hutter

ArXiv (abs)PDF HTML

Papers citing "Graph-based Multi-sensor Fusion for Consistent Localization of Autonomous Construction Robots"

30 / 30 papers shown

Title
AF-RLIO: Adaptive Fusion of Radar-LiDAR-Inertial Information for Robust Odometry in Challenging EnvironmentsIEEE International Conference on Robotics and Automation (ICRA), 2025 Chenglong Qian Yang Xu Xiufang Shi Jiming Chen Liang Li 103 2 0 24 Jul 2025
CompSLAM: Complementary Hierarchical Multi-Modal Localization and Mapping for Robot Autonomy in Underground Environments Shehryar Khattak Timon Homberger Lukas Bernreiter Julian Nubert Olov Andersson Roland Siegwart Kostas Alexis Marco Hutter 213 1 0 10 May 2025
Meta-Learning Online Dynamics Model Adaptation in Off-Road Autonomous Driving Jacob Levy Jason Gibson Bogdan I. Vlahov Erica Tevere Evangelos A. Theodorou David Fridovich-Keil Patrick Spieler 194 3 0 23 Apr 2025
Holistic Fusion: Task- and Setup-Agnostic Robot Localization and State Estimation with Factor Graphs Julian Nubert Turcan Tuna Jonas Frey Cesar Cadena Katherine J. Kuchenbecker Shehryar Khattak Marco Hutter 207 6 0 08 Apr 2025
Learning-based GNSS Uncertainty Quantification using Continuous-Time Factor Graph Optimization Haoming Zhang 155 0 0 06 Mar 2025
Enhancing Robotic Precision in Construction: A Modular Factor Graph-Based Framework to Deflection and Backlash Compensation Using High-Accuracy AccelerometersIEEE Robotics and Automation Letters (IEEE RA-L), 2025 Julien Kindle Michael Loetscher Andrea Alessandretti Cesar Cadena Marco Hutter 140 1 0 24 Jan 2025
Continuous-Time State Estimation Methods in Robotics: A SurveyIEEE Transactions on robotics (IEEE Trans. Robot.), 2024 William Talbot Julian Nubert Turcan Tuna Cesar Cadena Frederike Dumbgen J. Tordesillas Timothy D. Barfoot Marco Hutter 416 22 0 06 Nov 2024
IPPON: Common Sense Guided Informative Path Planning for Object Goal Navigation Kaixian Qu Jie Tan Tingnan Zhang Fei Xia Cesar Cadena Marco Hutter LM&Ro 200 4 0 25 Oct 2024
Reinforcement Learning Control for Autonomous Hydraulic Material Handling Machines with Underactuated ToolsIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024 Filippo A. Spinelli Pascal Egli Julian Nubert Fang Nan Thilo Bleumer Patrick Goegler Stephan Brockes Ferdinand Hofmann Marco Hutter 141 6 0 07 Oct 2024
ETHcavation: A Dataset and Pipeline for Panoptic Scene Understanding and Object Tracking in Dynamic Construction Environments Lorenzo Terenzi Julian Nubert Pol Eyschen Pascal Roth Simin Fei E. Jelavic Marco Hutter 127 1 0 05 Oct 2024
Robust High-Speed State Estimation for Off-road Navigation using Radar Velocity FactorsIEEE Robotics and Automation Letters (RA-L), 2024 Morten Nissov Jeffrey A. Edlund Patrick Spieler Curtis Padgett Kostas Alexis Shehryar Khattak 131 4 0 17 Sep 2024
Informed, Constrained, Aligned: A Field Analysis on Degeneracy-aware Point Cloud Registration in the Wild Turcan Tuna Julian Nubert Patrick Pfreundschuh Cesar Cadena Shehryar Khattak Marco Hutter 299 17 0 21 Aug 2024
Fusion LiDAR-Inertial-Encoder data for High-Accuracy SLAM Manh Do Duc Thanh Nguyen Canh Minh DoNgoc Xiem HoangVan 210 0 0 16 Jul 2024
Block-Map-Based Localization in Large-Scale Environment Yixiao Feng Zhou Jiang Yongliang Shi Yunlong Feng Xiangyu Chen Hao Zhao Guyue Zhou 147 8 0 28 Apr 2024
Degradation Resilient LiDAR-Radar-Inertial OdometryIEEE International Conference on Robotics and Automation (ICRA), 2024 Morten Nissov Nikhil Khedekar Kostas Alexis 195 24 0 08 Mar 2024
RoadRunner - Learning Traversability Estimation for Autonomous Off-road Driving Jonas Frey Shehryar Khattak Manthan Patel Deegan Atha Julian Nubert Curtis Padgett Marco Hutter Patrick Spieler 221 46 0 29 Feb 2024
RELEAD: Resilient Localization with Enhanced LiDAR Odometry in Adverse Environments Zhiqiang Chen Hongbo Chen Yuhua Qi Shipeng Zhong Dapeng Feng Wu Jin Weisong Wen Ming-Yuan Liu 257 7 0 29 Feb 2024
Pixel to Elevation: Learning to Predict Elevation Maps at Long Range using Images for Autonomous Offroad Navigation Chanyoung Chung Georgios Georgakis Patrick Spieler Curtis Padgett Ali Agha Shehryar Khattak 247 15 0 30 Jan 2024
ROAMER: Robust Offroad Autonomy using Multimodal State Estimation with Radar Velocity Integration Morten Nissov Shehryar Khattak Jeffrey A. Edlund Curtis Padgett Kostas Alexis Patrick Spieler 125 6 0 30 Jan 2024
Dense 3D Reconstruction Through Lidar: A Comparative Study on Ex-vivo Porcine Tissue Guido Caccianiga Julian Nubert Marco Hutter Katherine J. Kuchenbecker 134 1 0 19 Jan 2024
To Fuse or Not to Fuse: Measuring Consistency in Multi-Sensor Fusion for Aerial Robots Christian Lanegger Helen Oleynikova Michael Pantic Lionel Ott Roland Siegwart 107 0 0 22 Dec 2023
GNSS/Multi-Sensor Fusion Using Continuous-Time Factor Graph Optimization for Robust LocalizationIEEE Transactions on robotics (TRO), 2023 Haoming Zhang Chih-Chun Chen Heike Vallery Tim D. Barfoot 182 22 0 20 Sep 2023
Towards Autonomous Excavation Planning Lorenzo Terenzi Marco Hutter 112 15 0 22 Aug 2023
Vehicle State Estimation through Modular Factor Graph-based Fusion of Multiple SensorsVehicle Power and Propulsion Conference (VPPC), 2023 Pragyan Dahal J. Prakash S. Arrigoni Francesco Braghin 220 2 0 09 Aug 2023
Chasing Millimeters: Design, Navigation and State Estimation for Precise In-flight Marking on CeilingsAutonomous Robots (Auton. Robots), 2023 Christian Lanegger Michael Pantic Rik Bähnemann Roland Siegwart Lionel Ott 89 6 0 02 Mar 2023
A General Mobile Manipulator Automation Framework for Flexible Manufacturing in Hostile Industrial Environments Can Pu Chuanyu Yang Jinnian Pu Robert B. Fisher 104 0 0 09 Feb 2023
Resilient Terrain Navigation with a 5 DOF Metal Detector DroneIEEE International Conference on Robotics and Automation (ICRA), 2022 Patrick Pfreundschuh Rik Bähnemann Tim Kazik Thomas Mantel Roland Siegwart Olov Andersson 137 4 0 14 Dec 2022
X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme EnvironmentsIEEE Transactions on robotics (TRO), 2022 Turcan Tuna Julian Nubert Yoshua Nava Shehryar Khattak Marco Hutter Robotics Systems Lab 230 88 0 29 Nov 2022
onlineFGO: Online Continuous-Time Factor Graph Optimization with Time-Centric Multi-Sensor Fusion for Robust Localization in Large-Scale Environments Haoming Zhang Felix Widmayer Lars Lunnemann D. Abel 98 2 0 10 Nov 2022
Learning-based Localizability Estimation for Robust LiDAR LocalizationIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022 Julian Nubert E. Walther Shehryar Khattak Marco Hutter 269 37 0 11 Mar 2022