Maurice F. Fallon

159 papers A* 26A 14C 2Misc 3Journal 100Unranked 14

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	GrandTour: A Legged Robotics Dataset in the Wild for Multi-Modal Perception and State Estimation. CoRR Jonas Frey, Turcan Tuna, Lanke Frank Tarimo Fu, Katharine Patterson, Tianao Xu, Maurice F. Fallon, Cesar Dario Cadena Lerma, Marco Hutter
2026	J	`jnl`	Sapling-NeRF: Geo-Localised Sapling Reconstruction in Forests for Ecological Monitoring. CoRR Miguel Ángel Muñoz-Bañón, Nived Chebrolu, Sruthi M. Krishna Moorthy, Yifu Tao, Fernando Torres, Roberto Salguero-Gómez, Maurice F. Fallon
2026	J	`jnl`	SiLVR: Scalable Lidar-Visual Radiance Field Reconstruction With Uncertainty Quantification. IEEE Trans. Robotics Yifu Tao, Maurice F. Fallon
2026	J	`jnl`	TreeLoc: 6-DoF LiDAR Global Localization in Forests via Inter-Tree Geometric Matching. CoRR Minwoo Jung, Nived Chebrolu, Lucas Carvalho de Lima, Haedam Oh, Maurice F. Fallon, Ayoung Kim
2025	J	`jnl`	Boxi: Design Decisions in the Context of Algorithmic Performance for Robotics. CoRR Jonas Frey, Turcan Tuna, Lanke Frank Tarimo Fu, Cedric Weibel, Katharine Patterson, Benjamin Krummenacher, Matthias Müller, Julian Nubert, Maurice F. Fallon, Cesar Cadena, Marco Hutter
2025	J	`jnl`	Building Forest Inventories with Autonomous Legged Robots - System, Lessons, and Challenges Ahead. CoRR Matías Mattamala, Nived Chebrolu, Jonas Frey, Leonard Freißmuth, Haedam Oh, Benoît Casseau, Marco Hutter, Maurice F. Fallon
2025	A*	`conf`	Digiforests: a Longitudinal Lidar Dataset for Forestry Robotics. ICRA Meher V. R. Malladi, Nived Chebrolu, Irene Scacchetti, Luca Lobefaro, Tiziano Guadagnino, Benoît Casseau, Haedam Oh, Leonard Freißmuth, Markus Karppinen, Janine Schweier, Stefan Leutenegger, Jens Behley, Cyrill Stachniss, Maurice F. Fallon
2025	J	`jnl`	Exosense: A Vision-Based Scene Understanding System for Exoskeletons. IEEE Robotics Autom. Lett. Jianeng Wang, Matías Mattamala, Christina Kassab, Guillaume Burger, Fabio Elnecave Xavier, Lintong Zhang, Marine Pétriaux, Maurice F. Fallon
2025	J	`jnl`	ImLPR: Image-based LiDAR Place Recognition using Vision Foundation Models. CoRR Minwoo Jung, Lanke Frank Tarimo Fu, Maurice F. Fallon, Ayoung Kim
2025	J	`jnl`	LT-Exosense: A Vision-centric Multi-session Mapping System for Lifelong Safe Navigation of Exoskeletons. CoRR Jianeng Wang, Matías Mattamala, Christina Kassab, Nived Chebrolu, Guillaume Burger, Fabio Elnecave Xavier, Marine Pétriaux, Maurice F. Fallon
2025	J	`jnl`	OpenLex3D: A New Evaluation Benchmark for Open-Vocabulary 3D Scene Representations. CoRR Christina Kassab, Sacha Morin, Martin Büchner, Matías Mattamala, Kumaraditya Gupta, Abhinav Valada, Liam Paull, Maurice F. Fallon
2025	J	`jnl`	Perceptive Locomotion Through Whole-Body MPC and Optimal Region Selection. IEEE Access Thomas Corbères, Carlos Mastalli, Wolfgang Merkt, Jaehyun Shim, Ioannis Havoutis, Maurice F. Fallon, Nicolas Mansard, Thomas Flayols, Sethu Vijayakumar, Steve Tonneau
2025	A	`conf`	PlanarMesh: Building Compact 3D Meshes from LiDAR using Incremental Adaptive Resolution Reconstruction. IROS Jiahao Wang, Nived Chebrolu, Yifu Tao, Lintong Zhang, Ayoung Kim, Maurice F. Fallon
2025	J	`jnl`	PlanarMesh: Building Compact 3D Meshes from LiDAR using Incremental Adaptive Resolution Reconstruction. CoRR Jiahao Wang, Nived Chebrolu, Yifu Tao, Lintong Zhang, Ayoung Kim, Maurice F. Fallon
2025	J	`jnl`	Seeing in the Dark: Benchmarking Egocentric 3D Vision with the Oxford Day-and-Night Dataset. CoRR Zirui Wang, Wenjing Bian, Xinghui Li, Yifu Tao, Jianeng Wang, Maurice F. Fallon, Victor Adrian Prisacariu
2025	J	`jnl`	SiLVR: Scalable Lidar-Visual Radiance Field Reconstruction with Uncertainty Quantification. CoRR Yifu Tao, Maurice F. Fallon
2025	J	`jnl`	Wild visual navigation: fast traversability learning via pre-trained models and online self-supervision. Auton. Robots Matías Mattamala, Jonas Frey, Piotr Libera, Nived Chebrolu, Georg Martius, Cesar Cadena, Marco Hutter, Maurice F. Fallon
2024	—	`conf`	3D Freehand Ultrasound using Visual Inertial and Deep Inertial Odometry for Measuring Patellar Tracking. MeMeA Russell Buchanan, Shihfan Jack Tu, Marco Camurri, Stephen J. Mellon, Maurice F. Fallon
2024	J	`jnl`	3D Freehand Ultrasound using Visual Inertial and Deep Inertial Odometry for Measuring Patellar Tracking. CoRR Russell Buchanan, Shihfan Jack Tu, Marco Camurri, Stephen J. Mellon, Maurice F. Fallon
2024	J	`jnl`	AutoInspect: Towards Long-Term Autonomous Industrial Inspection. CoRR Michal Staniaszek, Tobit Flatscher, Joseph Rowell, Hanlin Niu, Wenxing Liu, Yang You, Robert Skilton, Maurice F. Fallon, Nick Hawes
2024	J	`jnl`	Autonomous Forest Inventory with Legged Robots: System Design and Field Deployment. CoRR Matías Mattamala, Nived Chebrolu, Benoît Casseau, Leonard Freißmuth, Jonas Frey, Turcan Tuna, Marco Hutter, Maurice F. Fallon
2024	J	`jnl`	Correction: Planning under uncertainty for safe robot exploration using gaussian process prediction. Auton. Robots Alex Stephens, Matthew Budd, Michal Staniaszek, Benoît Casseau, Paul Duckworth, Maurice F. Fallon, Nick Hawes, Bruno Lacerda
2024	A	`conf`	Evaluation and Deployment of LiDAR-based Place Recognition in Dense Forests. IROS Haedam Oh, Nived Chebrolu, Matías Mattamala, Leonard Freißmuth, Maurice F. Fallon
2024	J	`jnl`	Evaluation and Deployment of LiDAR-based Place Recognition in Dense Forests. CoRR Haedam Oh, Nived Chebrolu, Matías Mattamala, Leonard Freißmuth, Maurice F. Fallon
2024	J	`jnl`	Exosense: A Vision-Centric Scene Understanding System For Safe Exoskeleton Navigation. CoRR Jianeng Wang, Matías Mattamala, Christina Kassab, Lintong Zhang, Maurice F. Fallon
2024	C	`conf`	IMU-based Online Multi-lidar Calibration. IV Sandipan Das, Bengt Boberg, Maurice F. Fallon, Saikat Chatterjee
2024	A*	`conf`	Language-EXtended Indoor SLAM (LEXIS): A Versatile System for Real-time Visual Scene Understanding. ICRA Christina Kassab, Matías Mattamala, Lintong Zhang, Maurice F. Fallon
2024	A*	`conf`	LiSTA: Geometric Object-Based Change Detection in Cluttered Environments. ICRA Joseph Rowell, Lintong Zhang, Maurice F. Fallon
2024	J	`jnl`	LiSTA: Geometric Object-Based Change Detection in Cluttered Environments. CoRR Joseph Rowell, Lintong Zhang, Maurice F. Fallon
2024	A	`conf`	Markerless Aerial-Terrestrial Co-Registration of Forest Point Clouds using a Deformable Pose Graph. IROS Benoît Casseau, Nived Chebrolu, Matías Mattamala, Leonard Freißmuth, Maurice F. Fallon
2024	J	`jnl`	Markerless Aerial-Terrestrial Co-Registration of Forest Point Clouds using a Deformable Pose Graph. CoRR Benoît Casseau, Nived Chebrolu, Matías Mattamala, Leonard Freißmuth, Maurice F. Fallon
2024	A	`conf`	Online Tree Reconstruction and Forest Inventory on a Mobile Robotic System. IROS Leonard Freißmuth, Matías Mattamala, Nived Chebrolu, Simon Schaefer, Stefan Leutenegger, Maurice F. Fallon
2024	J	`jnl`	Online Tree Reconstruction and Forest Inventory on a Mobile Robotic System. CoRR Leonard Freißmuth, Matías Mattamala, Nived Chebrolu, Simon Schaefer, Stefan Leutenegger, Maurice F. Fallon
2024	J	`jnl`	Planning under uncertainty for safe robot exploration using Gaussian process prediction. Auton. Robots Alex Stephens, Matthew Budd, Michal Staniaszek, Benoît Casseau, Paul Duckworth, Maurice F. Fallon, Nick Hawes, Bruno Lacerda
2024	A*	`conf`	SiLVR: Scalable Lidar-Visual Reconstruction with Neural Radiance Fields for Robotic Inspection. ICRA Yifu Tao, Yash Bhalgat, Lanke Frank Tarimo Fu, Matías Mattamala, Nived Chebrolu, Maurice F. Fallon
2024	J	`jnl`	SiLVR: Scalable Lidar-Visual Reconstruction with Neural Radiance Fields for Robotic Inspection. CoRR Yifu Tao, Yash Bhalgat, Lanke Frank Tarimo Fu, Matías Mattamala, Nived Chebrolu, Maurice F. Fallon
2024	J	`jnl`	Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned. Field Robotics Marco Tranzatto, Mihir Dharmadhikari, Lukas Bernreiter, Marco Camurri, Shehryar Khattak, Frank Mascarich, Patrick Pfreundschuh, David Wisth, Samuel Zimmermann, Mihir Kulkarni, Victor Reijgwart, Benoît Casseau, Timon Homberger, Paolo De Petris, Lionel Ott, Wayne Tubby, Gabriel Waibel, Huan Nguyen, Cesar Cadena, Russell Buchanan, Lorenz Wellhausen, Nikhil Khedekar, Olov Andersson, Lintong Zhang, Takahiro Miki, Tung Dang, Matías Mattamala, Markus Montenegro, Konrad Meyer, Xiangyu Wu, Adrien Briod, Mark W. Mueller, Maurice F. Fallon, Roland Siegwart, Marco Hutter, Kostas Alexis
2024	J	`jnl`	The Bare Necessities: Designing Simple, Effective Open-Vocabulary Scene Graphs. CoRR Christina Kassab, Matías Mattamala, Sacha Morin, Martin Büchner, Abhinav Valada, Liam Paull, Maurice F. Fallon
2024	J	`jnl`	The Oxford Spires Dataset: Benchmarking Large-Scale LiDAR-Visual Localisation, Reconstruction and Radiance Field Methods. CoRR Yifu Tao, Miguel Ángel Muñoz-Bañón, Lintong Zhang, Jiahao Wang, Lanke Frank Tarimo Fu, Maurice F. Fallon
2024	A*	`conf`	Tree Instance Segmentation and Traits Estimation for Forestry Environments Exploiting LiDAR Data Collected by Mobile Robots. ICRA Meher V. R. Malladi, Tiziano Guadagnino, Luca Lobefaro, Matías Mattamala, Holger Griess, Janine Schweier, Nived Chebrolu, Maurice F. Fallon, Jens Behley, Cyrill Stachniss
2024	J	`jnl`	Visual Localization in 3D Maps: Comparing Point Cloud, Mesh, and NeRF Representations. CoRR Lintong Zhang, Yifu Tao, Jiarong Lin, Fu Zhang, Maurice F. Fallon
2024	J	`jnl`	Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision. CoRR Matías Mattamala, Jonas Frey, Piotr Libera, Nived Chebrolu, Georg Martius, Cesar Cadena, Marco Hutter, Maurice F. Fallon
2023	Misc	`conf`	Batch Differentiable Pose Refinement for In-The-Wild Camera/LiDAR Extrinsic Calibration. CoRL Lanke Frank Tarimo Fu, Maurice F. Fallon
2023	J	`jnl`	Deep IMU Bias Inference for Robust Visual-Inertial Odometry With Factor Graphs. IEEE Robotics Autom. Lett. Russell Buchanan, Varun Agrawal, Marco Camurri, Frank Dellaert, Maurice F. Fallon
2023	A	`conf`	Extrinsic Calibration of Camera to LIDAR Using a Differentiable Checkerboard Model. IROS Lanke Frank Tarimo Fu, Nived Chebrolu, Maurice F. Fallon
2023	A*	`conf`	Factor Graph Fusion of Raw GNSS Sensing with IMU and Lidar for Precise Robot Localization without a Base Station. ICRA Jonas Beuchert, Marco Camurri, Maurice F. Fallon
2023	—	`conf`	Fast Traversability Estimation for Wild Visual Navigation. Robotics: Science and Systems Jonas Frey, Matías Mattamala, Nived Chebrolu, Cesar Cadena, Maurice F. Fallon, Marco Hutter
2023	J	`jnl`	Fast Traversability Estimation for Wild Visual Navigation. CoRR Jonas Frey, Matías Mattamala, Nived Chebrolu, César Cadena, Maurice F. Fallon, Marco Hutter
2023	J	`jnl`	Hilti-Oxford Dataset: A Millimeter-Accurate Benchmark for Simultaneous Localization and Mapping. IEEE Robotics Autom. Lett. Lintong Zhang, Michael Helmberger, Lanke Frank Tarimo Fu, David Wisth, Marco Camurri, Davide Scaramuzza, Maurice F. Fallon
2023	—	`conf`	InstaLoc: One-shot Global Lidar Localisation in Indoor Environments through Instance Learning. Robotics: Science and Systems Lintong Zhang, Sundara Tejaswi Digumarti, Georgi Tinchev, Maurice F. Fallon
2023	J	`jnl`	InstaLoc: One-shot Global Lidar Localisation in Indoor Environments through Instance Learning. CoRR Lintong Zhang, Sundara Tejaswi Digumarti, Georgi Tinchev, Maurice F. Fallon
2023	J	`jnl`	Language-EXtended Indoor SLAM (LEXIS): A Versatile System for Real-time Visual Scene Understanding. CoRR Christina Kassab, Matías Mattamala, Lintong Zhang, Maurice F. Fallon
2023	C	`conf`	M-LIO: Multi-lidar, multi-IMU odometry with sensor dropout tolerance. IV Sandipan Das, Navid Mahabadi, Maurice F. Fallon, Saikat Chatterjee
2023	J	`jnl`	Observability-Aware Online Multi-Lidar Extrinsic Calibration. IEEE Robotics Autom. Lett. Sandipan Das, Ludvig af Klinteberg, Maurice F. Fallon, Saikat Chatterjee
2023	J	`jnl`	Osprey: Multi-Session Autonomous Aerial Mapping with LiDAR-based SLAM and Next Best View Planning. CoRR Rowan Border, Nived Chebrolu, Yifu Tao, Jonathan D. Gammell, Maurice F. Fallon
2023	J	`jnl`	Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection. CoRR Thomas Corbères, Carlos Mastalli, Wolfgang Merkt, Ioannis Havoutis, Maurice F. Fallon, Nicolas Mansard, Thomas Flayols, Sethu Vijayakumar, Steve Tonneau
2023	J	`jnl`	Real-time LIDAR localization in natural and urban environments. CoRR Georgi Tinchev, Adrián Peñate Sánchez, Maurice F. Fallon
2023	J	`jnl`	VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots. IEEE Trans. Robotics David Wisth, Marco Camurri, Maurice F. Fallon
2022	A	`conf`	3D Lidar Reconstruction with Probabilistic Depth Completion for Robotic Navigation. IROS Yifu Tao, Marija Popovic, Yiduo Wang, Sundara Tejaswi Digumarti, Nived Chebrolu, Maurice F. Fallon
2022	J	`jnl`	3D Lidar Reconstruction with Probabilistic Depth Completion for Robotic Navigation. CoRR Yifu Tao, Marija Popovic, Yiduo Wang, Sundara Tejaswi Digumarti, Nived Chebrolu, Maurice F. Fallon
2022	J	`jnl`	AEROS: AdaptivE RObust Least-Squares for Graph-Based SLAM. Frontiers Robotics AI Milad Ramezani, Matías Mattamala, Maurice F. Fallon
2022	J	`jnl`	An Efficient Locally Reactive Controller for Safe Navigation in Visual Teach and Repeat Missions. CoRR Matías Mattamala, Nived Chebrolu, Maurice F. Fallon
2022	J	`jnl`	An Efficient Locally Reactive Controller for Safe Navigation in Visual Teach and Repeat Missions. IEEE Robotics Autom. Lett. Matías Mattamala, Nived Chebrolu, Maurice F. Fallon
2022	J	`jnl`	Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometry. IEEE Robotics Autom. Lett. Lintong Zhang, David Wisth, Marco Camurri, Maurice F. Fallon
2022	J	`jnl`	CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge. CoRR Marco Tranzatto, Frank Mascarich, Lukas Bernreiter, Carolina Godinho, Marco Camurri, Shehryar Khattak, Tung Dang, Victor Reijgwart, Johannes Loeje, David Wisth, Samuel Zimmermann, Huan Nguyen, Marius Fehr, Lukas Solanka, Russell Buchanan, Marko Bjelonic, Nikhil Khedekar, Mathieu Valceschini, Fabian Jenelten, Mihir Dharmadhikari, Timon Homberger, Paolo De Petris, Lorenz Wellhausen, Mihir Kulkarni, Takahiro Miki, Satchel Hirsch, Markus Montenegro, Christos Papachristos, Fabian Tresoldi, Jan Carius, Giorgio Valsecchi, Joonho Lee, Konrad Meyer, Xiangyu Wu, Juan I. Nieto, Andy Smith, Marco Hutter, Roland Siegwart, Mark W. Mueller, Maurice F. Fallon, Kostas Alexis
2022	J	`jnl`	CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge. Field Robotics Marco Tranzatto, Frank Mascarich, Lukas Bernreiter, Carolina Godinho, Marco Camurri, Shehryar Khattak, Tung Dang, Victor Reijgwart, Johannes Loeje, David Wisth, Samuel Zimmermann, Huan Nguyen, Marius Fehr, Lukas Solanka, Russell Buchanan, Marko Bjelonic, Nikhil Khedekar, Mathieu Valceschini, Fabian Jenelten, Mihir Dharmadhikari, Timon Homberger, Paolo De Petris, Lorenz Wellhausen, Mihir Kulkarni, Takahiro Miki, Satchel Hirsch, Markus Montenegro, Christos Papachristos, Fabian Tresoldi, Jan Carius, Giorgio Valsecchi, Joonho Lee, Konrad Meyer, Xiangyu Wu, Juan I. Nieto, Andy Smith, Marco Hutter, Roland Siegwart, Mark W. Mueller, Maurice F. Fallon, Kostas Alexis
2022	J	`jnl`	Deep IMU Bias Inference for Robust Visual-Inertial Odometry with Factor Graphs. CoRR Russell Buchanan, Varun Agrawal, Marco Camurri, Frank Dellaert, Maurice F. Fallon
2022	A*	`conf`	Extrinsic Calibration and Verification of Multiple Non-overlapping Field of View Lidar Sensors. ICRA Sandipan Das, Navid Mahabadi, Addi Djikic, Cesar Nassir, Saikat Chatterjee, Maurice F. Fallon
2022	J	`jnl`	Extrinsic Calibration and Verification of Multiple Non-overlapping Field of View Lidar Sensors. CoRR Sandipan Das, Navid Mahabadi, Addi Djikic, Cesar Nassir, Saikat Chatterjee, Maurice F. Fallon
2022	J	`jnl`	Factor Graph Fusion of Raw GNSS Sensing with IMU and Lidar for Precise Robot Localization without a Base Station. CoRR Jonas Beuchert, Marco Camurri, Maurice F. Fallon
2022	J	`jnl`	Hilti-Oxford Dataset: A Millimetre-Accurate Benchmark for Simultaneous Localization and Mapping. CoRR Lintong Zhang, Michael Helmberger, Lanke Frank Tarimo Fu, David Wisth, Marco Camurri, Davide Scaramuzza, Maurice F. Fallon
2022	J	`jnl`	M-LIO: Multi-lidar, multi-IMU odometry with sensor dropout tolerance. CoRR Sandipan Das, Navid Mahabadi, Maurice F. Fallon, Saikat Chatterjee
2022	J	`jnl`	Multi-modal curb detection and filtering. CoRR Sandipan Das, Navid Mahabadi, Saikat Chatterjee, Maurice F. Fallon
2022	J	`jnl`	Observability-aware online multi-lidar extrinsic calibration. CoRR Sandipan Das, Ludvig af Klinteberg, Maurice F. Fallon, Saikat Chatterjee
2022	J	`jnl`	RLOC: Terrain-Aware Legged Locomotion Using Reinforcement Learning and Optimal Control. IEEE Trans. Robotics Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice F. Fallon, Ioannis Havoutis
2022	J	`jnl`	Strategies for large scale elastic and semantic LiDAR reconstruction. Robotics Auton. Syst. Yiduo Wang, Milad Ramezani, Matías Mattamala, Sundara Tejaswi Digumarti, Maurice F. Fallon
2022	J	`jnl`	Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned. CoRR Marco Tranzatto, Mihir Dharmadhikari, Lukas Bernreiter, Marco Camurri, Shehryar Khattak, Frank Mascarich, Patrick Pfreundschuh, David Wisth, Samuel Zimmermann, Mihir Kulkarni, Victor Reijgwart, Benoît Casseau, Timon Homberger, Paolo De Petris, Lionel Ott, Wayne Tubby, Gabriel Waibel, Huan Nguyen, Cesar Cadena, Russell Buchanan, Lorenz Wellhausen, Nikhil Khedekar, Olov Andersson, Lintong Zhang, Takahiro Miki, Tung Dang, Matías Mattamala, Markus Montenegro, Konrad Meyer, Xiangyu Wu, Adrien Briod, Mark W. Mueller, Maurice F. Fallon, Roland Siegwart, Marco Hutter, Kostas Alexis
2022	J	`jnl`	Towards real-time forest inventory using handheld LiDAR. Robotics Auton. Syst. Alexander Proudman, Milad Ramezani, Sundara Tejaswi Digumarti, Nived Chebrolu, Maurice F. Fallon
2022	A*	`conf`	Unsupervised Learning of Terrain Representations for Haptic Monte Carlo Localization. ICRA Mikolaj Lysakowski, Michal R. Nowicki, Russell Buchanan, Marco Camurri, Maurice F. Fallon, Krzysztof Walas
2021	J	`jnl`	AEROS: Adaptive RObust least-Squares for Graph-Based SLAM. CoRR Milad Ramezani, Matías Mattamala, Maurice F. Fallon
2021	J	`jnl`	Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometry. CoRR Lintong Zhang, David Wisth, Marco Camurri, Maurice F. Fallon
2021	A*	`conf`	Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks. ICRA Yiduo Wang, Nils Funk, Milad Ramezani, Sotiris Papatheodorou, Marija Popovic, Marco Camurri, Stefan Leutenegger, Maurice F. Fallon
2021	—	`conf`	ICP Localization and Walking Experiments on a TALOS Humanoid Robot. ICAR Thibaud Lasguignes, Isabelle Maroger, Maurice F. Fallon, Milad Ramezani, Luca Marchionni, Olivier Stasse, Nicolas Mansard, Bruno Watier
2021	A*	`conf`	Learning Camera Performance Models for Active Multi-Camera Visual Teach and Repeat. ICRA Matías Mattamala, Milad Ramezani, Marco Camurri, Maurice F. Fallon
2021	J	`jnl`	Learning Camera Performance Models for Active Multi-Camera Visual Teach and Repeat. CoRR Matías Mattamala, Milad Ramezani, Marco Camurri, Maurice F. Fallon
2021	Misc	`conf`	Learning Inertial Odometry for Dynamic Legged Robot State Estimation. CoRL Russell Buchanan, Marco Camurri, Frank Dellaert, Maurice F. Fallon
2021	J	`jnl`	Learning Inertial Odometry for Dynamic Legged Robot State Estimation. CoRR Russell Buchanan, Marco Camurri, Frank Dellaert, Maurice F. Fallon
2021	J	`jnl`	Multi-Camera LiDAR Inertial Extension to the Newer College Dataset. CoRR Lintong Zhang, Marco Camurri, Maurice F. Fallon
2021	J	`jnl`	Navigating by Touch: Haptic Monte Carlo Localization via Geometric Sensing and Terrain Classification. CoRR Russell Buchanan, Jakub Bednarek, Marco Camurri, Michal R. Nowicki, Krzysztof Walas, Maurice F. Fallon
2021	J	`jnl`	Navigating by touch: haptic Monte Carlo localization via geometric sensing and terrain classification. Auton. Robots Russell Buchanan, Jakub Bednarek, Marco Camurri, Michal R. Nowicki, Krzysztof Walas, Maurice F. Fallon
2021	—	`conf`	Online Estimation of Diameter at Breast Height (DBH) of Forest Trees Using a Handheld LiDAR. ECMR Alexander Proudman, Milad Ramezani, Maurice F. Fallon
2021	A	`conf`	Rapid Stability Margin Estimation for Contact-Rich Locomotion. IROS Romeo Orsolino, Siddhant Gangapurwala, Oliwier Melon, Mathieu Geisert, Ioannis Havoutis, Maurice F. Fallon
2021	A*	`conf`	Real-Time Trajectory Adaptation for Quadrupedal Locomotion using Deep Reinforcement Learning. ICRA Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice F. Fallon, Ioannis Havoutis
2021	A*	`conf`	Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization. ICRA Oliwier Melon, Romeo Orsolino, David Surovik, Mathieu Geisert, Ioannis Havoutis, Maurice F. Fallon
2021	J	`jnl`	Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization. CoRR Oliwier Melon, Romeo Orsolino, David Surovik, Mathieu Geisert, Ioannis Havoutis, Maurice F. Fallon
2021	J	`jnl`	SKD: Keypoint Detection for Point Clouds Using Saliency Estimation. IEEE Robotics Autom. Lett. Georgi Tinchev, Adrián Peñate Sánchez, Maurice F. Fallon
2021	—	`conf`	Scalable and Elastic LiDAR Reconstruction in Complex Environments Through Spatial Analysis. ECMR Yiduo Wang, Milad Ramezani, Matías Mattamala, Maurice F. Fallon
2021	J	`jnl`	Scalable and Elastic LiDAR Reconstruction in Complex Environments Through Spatial Analysis. CoRR Yiduo Wang, Milad Ramezani, Matías Mattamala, Maurice F. Fallon
2021	J	`jnl`	Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry. IEEE Robotics Autom. Lett. David Wisth, Marco Camurri, Sandipan Das, Maurice F. Fallon
2021	J	`jnl`	VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots. CoRR David Wisth, Marco Camurri, Maurice F. Fallon
2021	J	`jnl`	iMHS: An Incremental Multi-Hypothesis Smoother. CoRR Fan Jiang, Varun Agrawal, Russell Buchanan, Maurice F. Fallon, Frank Dellaert
2020	A*	`conf`	Actively Mapping Industrial Structures with Information Gain-Based Planning on a Quadruped Robot. ICRA Yiduo Wang, Milad Ramezani, Maurice F. Fallon
2020	J	`jnl`	Actively Mapping Industrial Structures with Information Gain-Based Planning on a Quadruped Robot. CoRR Yiduo Wang, Milad Ramezani, Maurice F. Fallon
2020	J	`jnl`	Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks. CoRR Yiduo Wang, Nils Funk, Milad Ramezani, Sotiris Papatheodorou, Marija Popovic, Marco Camurri, Stefan Leutenegger, Maurice F. Fallon
2020	A	`conf`	Haptic Sequential Monte Carlo Localization for Quadrupedal Locomotion in Vision-Denied Scenarios. IROS Russell Buchanan, Marco Camurri, Maurice F. Fallon
2020	J	`jnl`	Haptic Sequential Monte Carlo Localization for Quadrupedal Locomotion in Vision-Denied Scenarios. CoRR Russell Buchanan, Marco Camurri, Maurice F. Fallon
2020	Misc	`conf`	Learning an Expert Skill-Space for Replanning Dynamic Quadruped Locomotion over Obstacles. CoRL David Surovik, Oliwier Melon, Mathieu Geisert, Maurice F. Fallon, Ioannis Havoutis
2020	A*	`conf`	Online LiDAR-SLAM for Legged Robots with Robust Registration and Deep-Learned Loop Closure. ICRA Milad Ramezani, Georgi Tinchev, Egor Iuganov, Maurice F. Fallon
2020	J	`jnl`	Online LiDAR-SLAM for Legged Robots with Robust Registration and Deep-Learned Loop Closure. CoRR Milad Ramezani, Georgi Tinchev, Egor Iuganov, Maurice F. Fallon
2020	A*	`conf`	Preintegrated Velocity Bias Estimation to Overcome Contact Nonlinearities in Legged Robot Odometry. ICRA David Wisth, Marco Camurri, Maurice F. Fallon
2020	J	`jnl`	Pronto: A Multi-Sensor State Estimator for Legged Robots in Real-World Scenarios. Frontiers Robotics AI Marco Camurri, Milad Ramezani, Simona Nobili, Maurice F. Fallon
2020	J	`jnl`	RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control. CoRR Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice F. Fallon, Ioannis Havoutis
2020	A*	`conf`	Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations. ICRA Oliwier Melon, Mathieu Geisert, David Surovik, Ioannis Havoutis, Maurice F. Fallon
2020	J	`jnl`	Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations. CoRR Oliwier Melon, Mathieu Geisert, David Surovik, Ioannis Havoutis, Maurice F. Fallon
2020	A	`conf`	The Newer College Dataset: Handheld LiDAR, Inertial and Vision with Ground Truth. IROS Milad Ramezani, Yiduo Wang, Marco Camurri, David Wisth, Matías Mattamala, Maurice F. Fallon
2020	J	`jnl`	The Newer College Dataset: Handheld LiDAR, Inertial and Vision with Ground Truth. CoRR Milad Ramezani, Yiduo Wang, Marco Camurri, David Wisth, Matías Mattamala, Maurice F. Fallon
2020	J	`jnl`	Towards autonomous inspection of concrete deterioration in sewers with legged robots. J. Field Robotics Hendrik Kolvenbach, David Wisth, Russell Buchanan, Giorgio Valsecchi, Ruben Grandia, Maurice F. Fallon, Marco Hutter
2020	J	`jnl`	Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry. CoRR David Wisth, Marco Camurri, Sandipan Das, Maurice F. Fallon
2019	J	`jnl`	Learning to See the Wood for the Trees: Deep Laser Localization in Urban and Natural Environments on a CPU. CoRR Georgi Tinchev, Adrián Peñate Sánchez, Maurice F. Fallon
2019	J	`jnl`	Learning to See the Wood for the Trees: Deep Laser Localization in Urban and Natural Environments on a CPU. IEEE Robotics Autom. Lett. Georgi Tinchev, Adrián Peñate Sánchez, Maurice F. Fallon
2019	A*	`conf`	Learning-driven Coarse-to-Fine Articulated Robot Tracking. ICRA Christian Rauch, Vladimir Ivan, Timothy M. Hospedales, Jamie Shotton, Maurice F. Fallon
2019	A	`conf`	Multi-controller multi-objective locomotion planning for legged robots. IROS Martim Brandão, Maurice F. Fallon, Ioannis Havoutis
2019	J	`jnl`	Preintegrated Velocity Bias Estimation to Overcome Contact Nonlinearities in Legged Robot Odometry. CoRR David Wisth, Marco Camurri, Maurice F. Fallon
2019	J	`jnl`	Robust Legged Robot State Estimation Using Factor Graph Optimization. CoRR David Wisth, Marco Camurri, Maurice F. Fallon
2019	J	`jnl`	Robust Legged Robot State Estimation Using Factor Graph Optimization. IEEE Robotics Autom. Lett. David Wisth, Marco Camurri, Maurice F. Fallon
2019	J	`jnl`	SKD: Unsupervised Keypoint Detecting for Point Clouds using Embedded Saliency Estimation. CoRR Georgi Tinchev, Adrián Peñate Sánchez, Maurice F. Fallon
2018	A*	`conf`	Predicting Alignment Risk to Prevent Localization Failure. ICRA Simona Nobili, Georgi Tinchev, Maurice F. Fallon
2018	A	`conf`	Seeing the Wood for the Trees: Reliable Localization in Urban and Natural Environments. IROS Georgi Tinchev, Simona Nobili, Maurice F. Fallon
2018	J	`jnl`	Seeing the Wood for the Trees: Reliable Localization in Urban and Natural Environments. CoRR Georgi Tinchev, Simona Nobili, Maurice F. Fallon
2018	A*	`conf`	StaticFusion: Background Reconstruction for Dense RGB-D SLAM in Dynamic Environments. ICRA Raluca Scona, Mariano Jaimez, Yvan R. Petillot, Maurice F. Fallon, Daniel Cremers
2018	A*	`conf`	Visual Articulated Tracking in the Presence of Occlusions. ICRA Christian Rauch, Timothy M. Hospedales, Jamie Shotton, Maurice F. Fallon
2017	A	`conf`	Direct visual SLAM fusing proprioception for a humanoid robot. IROS Raluca Scona, Simona Nobili, Yvan R. Petillot, Maurice F. Fallon
2017	J	`jnl`	Director: A User Interface Designed for Robot Operation with Shared Autonomy. J. Field Robotics Pat Marion, Maurice F. Fallon, Robin Deits, Andres Valenzuela, Claudia Pérez-D'Arpino, Greg Izatt, Lucas Manuelli, Matthew E. Antone, Hongkai Dai, Twan Koolen, John Carter, Scott Kuindersma, Russ Tedrake
2017	—	`conf`	Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots. Robotics: Science and Systems Simona Nobili, Marco Camurri, Victor Barasuol, Michele Focchi, Darwin G. Caldwell, Claudio Semini, Maurice F. Fallon
2017	A*	`conf`	Overlap-based ICP tuning for robust localization of a humanoid robot. ICRA Simona Nobili, Raluca Scona, Marco Caravagna, Maurice F. Fallon
2017	J	`jnl`	Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots. IEEE Robotics Autom. Lett. Marco Camurri, Maurice F. Fallon, Stéphane Bazeille, Andreea Radulescu, Victor Barasuol, Darwin G. Caldwell, Claudio Semini
2017	—	`conf`	Robust shared autonomy for mobile manipulation with continuous scene monitoring. CASE Wolfgang Merkt, Yiming Yang, Theodoros Stouraitis, Christopher E. Mower, Maurice F. Fallon, Sethu Vijayakumar
2016	J	`jnl`	Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot. Auton. Robots Scott Kuindersma, Robin Deits, Maurice F. Fallon, Andres Valenzuela, Hongkai Dai, Frank Permenter, Twan Koolen, Pat Marion, Russ Tedrake
2016	J	`jnl`	iDRM: Humanoid Motion Planning with Real-Time End-Pose Selection in Complex Environments. CoRR Yiming Yang, Vladimir Ivan, Zhibin Li, Maurice F. Fallon, Sethu Vijayakumar
2016	—	`conf`	iDRM: Humanoid motion planning with realtime end-pose selection in complex environments. Humanoids Yiming Yang, Vladimir Ivan, Zhibin Li, Maurice F. Fallon, Sethu Vijayakumar
2015	J	`jnl`	An Architecture for Online Affordance-based Perception and Whole-body Planning. J. Field Robotics Maurice F. Fallon, Scott Kuindersma, Sisir Karumanchi, Matthew E. Antone, Toby Schneider, Hongkai Dai, Claudia Pérez-D'Arpino, Robin Deits, Matt DiCicco, Dehann Fourie, Twan Koolen, Pat Marion, Michael Posa, Andres Valenzuela, Kuan-Ting Yu, Julie A. Shah, Karl Iagnemma, Russ Tedrake, Seth J. Teller
2015	—	`conf`	Continuous humanoid locomotion over uneven terrain using stereo fusion. Humanoids Maurice F. Fallon, Pat Marion, Robin Deits, Thomas Whelan, Matthew E. Antone, John McDonald, Russ Tedrake
2015	J	`jnl`	Real-time large-scale dense RGB-D SLAM with volumetric fusion. Int. J. Robotics Res. Thomas Whelan, Michael Kaess, Hordur Johannsson, Maurice F. Fallon, John J. Leonard, John McDonald
2014	A*	`conf`	A summary of team MIT's approach to the virtual robotics challenge. ICRA Russ Tedrake, Maurice F. Fallon, Sisir Karumanchi, Scott Kuindersma, Matthew E. Antone, Toby Schneider, Thomas M. Howard, Matthew R. Walter, Hongkai Dai, Robin Deits, Michael Fleder, Dehann Fourie, Riad I. Hammoud, Sachithra Hemachandra, P. Ilardi, Claudia Pérez-D'Arpino, Sudeep Pillai, Andres Valenzuela, Cecilia Cantu, C. Dolan, I. Evans, S. Jorgensen, J. Kristeller, Julie A. Shah, Karl Iagnemma, Seth J. Teller
2014	—	`conf`	Drift-free humanoid state estimation fusing kinematic, inertial and LIDAR sensing. Humanoids Maurice F. Fallon, Matthew E. Antone, Nicholas Roy, Seth J. Teller
2013	—	`conf`	Spatially Prioritized and Persistent Text Detection and Decoding. CBDAR Hsueh-Cheng Wang, Yafim Landa, Maurice F. Fallon, Seth J. Teller
2013	A*	`conf`	Temporally scalable visual SLAM using a reduced pose graph. ICRA Hordur Johannsson, Michael Kaess, Maurice F. Fallon, John J. Leonard
2013	J	`jnl`	The MIT Stata Center dataset. Int. J. Robotics Res. Maurice F. Fallon, Hordur Johannsson, Michael Kaess, John J. Leonard
2012	J	`jnl`	Acoustic Source Localization and Tracking of a Time-Varying Number of Speakers. IEEE Trans. Speech Audio Process. Maurice F. Fallon, Simon J. Godsill
2012	A*	`conf`	Efficient scene simulation for robust monte carlo localization using an RGB-D camera. ICRA Maurice F. Fallon, Hordur Johannsson, John J. Leonard
2012	A	`conf`	Sensor fusion for flexible human-portable building-scale mapping. IROS Maurice F. Fallon, Hordur Johannsson, Jonathan Brookshire, Seth J. Teller, John J. Leonard
2011	A*	`conf`	Efficient AUV navigation fusing acoustic ranging and side-scan sonar. ICRA Maurice F. Fallon, Michael Kaess, Hordur Johannsson, John J. Leonard
2010	A*	`conf`	A measurement distribution framework for cooperative navigation using multiple AUVs. ICRA Maurice F. Fallon, Georgios Papadopoulos, John J. Leonard
2010	J	`jnl`	Acoustic Source Localization and Tracking Using Track Before Detect. IEEE Trans. Speech Audio Process. Maurice F. Fallon, Simon J. Godsill
2010	J	`jnl`	Cooperative AUV Navigation using a Single Maneuvering Surface Craft. Int. J. Robotics Res. Maurice F. Fallon, Georgios Papadopoulos, John J. Leonard, Nicholas M. Patrikalakis
2010	A	`conf`	Cooperative localization of marine vehicles using nonlinear state estimation. IROS Georgios Papadopoulos, Maurice F. Fallon, John J. Leonard, Nicholas M. Patrikalakis
2010	—	`conf`	Mapping Complex Marine Environments with Autonomous Surface Craft. ISER Jacques C. Leedekerken, Maurice F. Fallon, John J. Leonard
2009	—	`conf`	Cooperative AUV Navigation Using a Single Surface Craft. FSR Maurice F. Fallon, Georgios Papadopoulos, John J. Leonard
2009	J	`jnl`	Cooperative Localization for Autonomous Underwater Vehicles. Int. J. Robotics Res. Alexander Bahr, John J. Leonard, Maurice F. Fallon