Канал: Oxford Dynamic Robot Systems Group

Visual Localization in 3D Maps: Comparing Point Cloud, Mesh, and NeRF Representations

Visual Localization in 3D Maps: Comparing Point Cloud, Mesh, and NeRF Representations

Evaluation and Deployment of LiDAR-based Place Recognition in Dense Forests

Evaluation and Deployment of LiDAR-based Place Recognition in Dense Forests

Online Tree Reconstruction and Forest Inventory on a Mobile Robotic System

Online Tree Reconstruction and Forest Inventory on a Mobile Robotic System

SiLVR: Scalable Lidar-Visual Reconstruction with Neural RadianceFields for Robotic Inspection

SiLVR: Scalable Lidar-Visual Reconstruction with Neural RadianceFields for Robotic Inspection

Batch Differentiable Pose Refinement for In-The-Wild Camera/LiDAR Extrinsic Calibration

Batch Differentiable Pose Refinement for In-The-Wild Camera/LiDAR Extrinsic Calibration

Fast Traversability Estimation for Wild Visual Navigation

Fast Traversability Estimation for Wild Visual Navigation

LiSTA: Geometric Object-Based Change Detection in Cluttered Environments

LiSTA: Geometric Object-Based Change Detection in Cluttered Environments

Language-EXtended Indoor SLAM (LEXIS): A Versatile System for Real-time Visual Scene Understanding

Language-EXtended Indoor SLAM (LEXIS): A Versatile System for Real-time Visual Scene Understanding

R-LGP:A Reachability-guided LGP Framework for Optimal Task and Motion Planning on Mobile Manipulator

R-LGP:A Reachability-guided LGP Framework for Optimal Task and Motion Planning on Mobile Manipulator

Osprey: Multi-Session Autonomous Aerial Mapping with LiDAR-based SLAM and Next Best View Planning

Osprey: Multi-Session Autonomous Aerial Mapping with LiDAR-based SLAM and Next Best View Planning

Extrinsic Calibration of Camera to LIDAR using a Differentiable Checkerboard Model

Extrinsic Calibration of Camera to LIDAR using a Differentiable Checkerboard Model

InstaLoc: One-shot Global Lidar Localisation in Indoor Environments through Instance Learning

InstaLoc: One-shot Global Lidar Localisation in Indoor Environments through Instance Learning

Deep IMU Bias Inference for Robust Visual-Inertial Odometry With Factor Graphs

Deep IMU Bias Inference for Robust Visual-Inertial Odometry With Factor Graphs

Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion

Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion

Inspection of Energy Facilities with Legged Robots

Inspection of Energy Facilities with Legged Robots

Mapping Oxford's Sheldonian Theatre

Mapping Oxford's Sheldonian Theatre

Automated Inspection of Construction with Legged Robots

Automated Inspection of Construction with Legged Robots

Factor Graph Fusion of GNSS Sensing with IMU and Lidar for Robot Localization w/o a Base Station

Factor Graph Fusion of GNSS Sensing with IMU and Lidar for Robot Localization w/o a Base Station

Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization

Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization

Towards Real-Time Forest Inventory using Handheld LiDAR

Towards Real-Time Forest Inventory using Handheld LiDAR

Strategies for Large Scale Elastic and Semantic LiDAR Reconstruction

Strategies for Large Scale Elastic and Semantic LiDAR Reconstruction

3D Lidar Reconstruction with Probabilistic Depth Completion for Robotic Navigation - IROS 2022

3D Lidar Reconstruction with Probabilistic Depth Completion for Robotic Navigation - IROS 2022

RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control

RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control

Enter the 2022 Hilti SLAM Challenge - Map Oxford's Sheldonian Theatre

Enter the 2022 Hilti SLAM Challenge - Map Oxford's Sheldonian Theatre

Unsupervised Learning of Terrain Representations for Haptic Monte Carlo Localization

Unsupervised Learning of Terrain Representations for Haptic Monte Carlo Localization

VILENS: Visual, Inertial, Lidar, and Leg Odometryfor All-Terrain Legged Robots

VILENS: Visual, Inertial, Lidar, and Leg Odometryfor All-Terrain Legged Robots

An Efficient Locally Reactive Controller for Safe Navigation in Visual Teach and Repeat Missions

An Efficient Locally Reactive Controller for Safe Navigation in Visual Teach and Repeat Missions

3D Scanning of the Chernobyl Nuclear Power Plant

3D Scanning of the Chernobyl Nuclear Power Plant

Learning Inertial Odometry for Dynamic Legged Robot State Estimation

Learning Inertial Odometry for Dynamic Legged Robot State Estimation

Navigating by Touch: Haptic Localization via Geometric Sensing and Terrain Classification

Navigating by Touch: Haptic Localization via Geometric Sensing and Terrain Classification

Robots to the Rescue - Oxford Robotics Institute prepares for the DARPA SubT Challenge

Robots to the Rescue - Oxford Robotics Institute prepares for the DARPA SubT Challenge

Scalable and Elastic LiDAR Reconstruction in Complex Environments Through Spatial Analysis

Scalable and Elastic LiDAR Reconstruction in Complex Environments Through Spatial Analysis

Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometry

Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometry

Safe Visual Navigation in an Underground Mine

Safe Visual Navigation in an Underground Mine

Towards Autonomous Aerial Reconstruction and Monitoring

Towards Autonomous Aerial Reconstruction and Monitoring

Online Estimation of Diameter at Breast Height for Trees in Forests Using a Handheld LiDAR

Online Estimation of Diameter at Breast Height for Trees in Forests Using a Handheld LiDAR

Real-time Mapping of Industrial Structures with the Spot Quadruped Robot

Real-time Mapping of Industrial Structures with the Spot Quadruped Robot

Mapping of Industrial Facilities for Gamma Radiation using the Spot Robot

Mapping of Industrial Facilities for Gamma Radiation using the Spot Robot

Ensuring Safe Visual Teach and Repeat Legged Navigation using Local World Representations

Ensuring Safe Visual Teach and Repeat Legged Navigation using Local World Representations

[Presentation] Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks

[Presentation] Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks

[Presentation] SKD: Keypoint Detection for Point Clouds using Saliency Estimation

[Presentation] SKD: Keypoint Detection for Point Clouds using Saliency Estimation

RA-L/ICRA 2021 - Unified Landmark Tracking for Odometry [Finalist ICRA Best Student Paper]

RA-L/ICRA 2021 - Unified Landmark Tracking for Odometry [Finalist ICRA Best Student Paper]

[Presentation] Learning Camera Performance Models for Active Multi-Camera Visual Teach and Repeat

[Presentation] Learning Camera Performance Models for Active Multi-Camera Visual Teach and Repeat

[Presentation] Receding-Horizon Perceptive Trajectory Optimization with Learned Initialization

[Presentation] Receding-Horizon Perceptive Trajectory Optimization with Learned Initialization

Multi-Floor Mapping and Exploration with the Spot Robot

Multi-Floor Mapping and Exploration with the Spot Robot

Real-Time Trajectory Adaptation for Quadrupedal Locomotion using Deep Reinforcement Learning

Real-Time Trajectory Adaptation for Quadrupedal Locomotion using Deep Reinforcement Learning

Receding-Horizon Perceptive Trajectory Optimization with Learned Initialization

Receding-Horizon Perceptive Trajectory Optimization with Learned Initialization

ICRA2020 - Actively Mapping Industrial Structure with Information Gain-Based Planning on a Quadruped

ICRA2020 - Actively Mapping Industrial Structure with Information Gain-Based Planning on a Quadruped

Learning Camera Performance Models for Active Multi-Camera Visual Teach and Repeat

Learning Camera Performance Models for Active Multi-Camera Visual Teach and Repeat

Online LiDAR-SLAM for Legged Robots with Robust Registration and Deep-Learned Loop Closure

Online LiDAR-SLAM for Legged Robots with Robust Registration and Deep-Learned Loop Closure

Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks

Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks

[Presentation] Reliable Trajectories for Quadrupeds using Analytical Costs & Learned Initializations

[Presentation] Reliable Trajectories for Quadrupeds using Analytical Costs & Learned Initializations

LIDAR SLAM/CML with celebrity narration

LIDAR SLAM/CML with celebrity narration

CML/SLAM - MIT - 2001

CML/SLAM - MIT - 2001

Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry

Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry

Autonomous Exploration and Mapping of Nuclear Facilities

Autonomous Exploration and Mapping of Nuclear Facilities

Dynamic LIDAR Inertial Odometry with the Ross Robotics Extrm Robot

Dynamic LIDAR Inertial Odometry with the Ross Robotics Extrm Robot

Learning an Expert Skill-Space for Replanning Dynamic Quadruped Locomotion over Obstacles

Learning an Expert Skill-Space for Replanning Dynamic Quadruped Locomotion over Obstacles

Additional Sequences for the Newer College Multi-Sensor Dataset

Additional Sequences for the Newer College Multi-Sensor Dataset

Autonomous Exploration with a Graph-based Path Planner using the ANYmal Robot

Autonomous Exploration with a Graph-based Path Planner using the ANYmal Robot

Autonomous Exploration with a Graph-based Path Planner using the Ross Extrm

Autonomous Exploration with a Graph-based Path Planner using the Ross Extrm

Scanning Oxford's Wytham Woods with Handheld LIDAR

Scanning Oxford's Wytham Woods with Handheld LIDAR

Mapping Large Urban Spaces with Handheld LIDAR

Mapping Large Urban Spaces with Handheld LIDAR

Haptic Sequential Monte Carlo Localization for Quadrupedal Locomotion in Vision-Denied Scenarios

Haptic Sequential Monte Carlo Localization for Quadrupedal Locomotion in Vision-Denied Scenarios

[Presentation] Preint. Velocity Bias Estim. to Overcome Contact Nonlinearities in Legged Robot Odom.

[Presentation] Preint. Velocity Bias Estim. to Overcome Contact Nonlinearities in Legged Robot Odom.

[Presentation] Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion

[Presentation] Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion

Underground Bunker Exploration with a Team of Robots

Underground Bunker Exploration with a Team of Robots

Newer College Dataset - Handheld LiDAR, Inertial and Vision with Ground Truth

Newer College Dataset - Handheld LiDAR, Inertial and Vision with Ground Truth

New College Oxford - 3D Flythrough

New College Oxford - 3D Flythrough

Autonomous Inspection of a Construction Site using the ANYmal Quadruped

Autonomous Inspection of a Construction Site using the ANYmal Quadruped

Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations

Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations

ICRA 2020 Video Sampler for Oxford DRS Group

ICRA 2020 Video Sampler for Oxford DRS Group

RA-L/ICRA 2020 - GaitMesh: controller-aware navigation meshes for legged locomotion planning

RA-L/ICRA 2020 - GaitMesh: controller-aware navigation meshes for legged locomotion planning

RA-L/ICRA 2020 - Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion

RA-L/ICRA 2020 - Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion

Plane Seg on ANYmal (Real Experiment)

Plane Seg on ANYmal (Real Experiment)

ANYmal maps the new Oxford Robotics Institute Lab

ANYmal maps the new Oxford Robotics Institute Lab

ANYmal inspecting the new Oxford Robotics Institute Lab

ANYmal inspecting the new Oxford Robotics Institute Lab

ANYmal Director UI Demo

ANYmal Director UI Demo

Plane Seg on ANYmal (Simulation)

Plane Seg on ANYmal (Simulation)

ICRA 2020 - Preintegrated Velocity Bias Estimation to Overcome Nonlinearities in Legged Odometry

ICRA 2020 - Preintegrated Velocity Bias Estimation to Overcome Nonlinearities in Legged Odometry

Autonomous Legged Robot Inspection with ANYmal

Autonomous Legged Robot Inspection with ANYmal

Autonomous Inspection in Changing Industrial Environments with ANYmal

Autonomous Inspection in Changing Industrial Environments with ANYmal

DRS at the Royal Society Summer Science Exhibition

DRS at the Royal Society Summer Science Exhibition

IROS19 - Multi-controller multi-objective locomotion planning for legged robots

IROS19 - Multi-controller multi-objective locomotion planning for legged robots

RA-L/IROS 2019 - Robust Legged Robot State Estimation Using Factor Graph Optimization

RA-L/IROS 2019 - Robust Legged Robot State Estimation Using Factor Graph Optimization

Person Tracking with the ANYmal Robot

Person Tracking with the ANYmal Robot

Navigating and Mapping Industrial Facilities with Oxford's ANYmal robot

Navigating and Mapping Industrial Facilities with Oxford's ANYmal robot

Oxford ANYmal using laser mapping to autonomously navigate

Oxford ANYmal using laser mapping to autonomously navigate

TAROS 2019 - Contact Planning for ANYmal Quadruped Robot using Acyclic Reachability-Based Planner

TAROS 2019 - Contact Planning for ANYmal Quadruped Robot using Acyclic Reachability-Based Planner

Staircase climbing with the Oxford ANYmal robot

Staircase climbing with the Oxford ANYmal robot

ANYmal climbs the ORI Staircase (x2)

ANYmal climbs the ORI Staircase (x2)

ICRA 2019 - Learning Driven Coarse to Fine Articulated Robot Tracking

ICRA 2019 - Learning Driven Coarse to Fine Articulated Robot Tracking

RA-L/ICRA19 - Efficient Segment Matching for LIDAR Localization

RA-L/ICRA19 - Efficient Segment Matching for LIDAR Localization

ANYmal demo - AIMS CDT in Oxford

ANYmal demo - AIMS CDT in Oxford

Racing simulated ANYmal Robots - AIMS CDT at Oxford

Racing simulated ANYmal Robots - AIMS CDT at Oxford

Industrial Inspection with Oxford's ANYmal robot

Industrial Inspection with Oxford's ANYmal robot

Walking Robotics at University of Oxford

Walking Robotics at University of Oxford

IROS18 - Reliable Localization in Urban and Natural Environments

IROS18 - Reliable Localization in Urban and Natural Environments

Oxford's Anymal gets behind England for FIFA2018!

Oxford's Anymal gets behind England for FIFA2018!

ANYmal climbing stairs at Oxford Robotics

ANYmal climbing stairs at Oxford Robotics

IROS17 - Visual SLAM Fusing Proprioception for a Humanoid Robot

IROS17 - Visual SLAM Fusing Proprioception for a Humanoid Robot

ICRA18 - Predicting Alignment Risk to Prevent Localization Failure

ICRA18 - Predicting Alignment Risk to Prevent Localization Failure

ICRA18 - Visual Articulated Tracking in the Presence of Occlusions

ICRA18 - Visual Articulated Tracking in the Presence of Occlusions

ICRA18 - StaticFusion: Dense RGB-D SLAM in Dynamic Environments

ICRA18 - StaticFusion: Dense RGB-D SLAM in Dynamic Environments

DARPA Robotics Challenge - Finals Summary Video

DARPA Robotics Challenge - Finals Summary Video

IROS12 - Sensor Fusion for Man-Portable Mapping

IROS12 - Sensor Fusion for Man-Portable Mapping

RSS17 - Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots

RSS17 - Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots

ICRA17 - ICP Tuning for Robust Localization of a Humanoid Robot

ICRA17 - ICP Tuning for Robust Localization of a Humanoid Robot

A Merry Autonomous Christmas from Edinburgh

A Merry Autonomous Christmas from Edinburgh

LOAM adapted for a Multisense SL

LOAM adapted for a Multisense SL

Laser-based Localization for the NASA Valkyrie

Laser-based Localization for the NASA Valkyrie

Terrain Maps with our Clearpath Husky

Terrain Maps with our Clearpath Husky

Terrain Maps with our Clearpath Husky

Terrain Maps with our Clearpath Husky