Robust Legged Robot State Estimation Using Factor Graph Optimization. - David Wisth; Marco Camurri; Maurice F. Fallon (IEEE Robotics Autom. Lett., 2019)

Preintegrated Velocity Bias Estimation to Overcome Contact Nonlinearities in Legged Robot Odometry. - David Wisth; Marco Camurri; Maurice F. Fallon (ICRA, 2020)

The Newer College Dataset: Handheld LiDAR, Inertial and Vision with Ground Truth. - Milad Ramezani; Yiduo Wang 001; Marco Camurri; David Wisth; Matías Mattamala; Maurice F. Fallon (IROS, 2020)

Towards autonomous inspection of concrete deterioration in sewers with legged robots. - Hendrik Kolvenbach; David Wisth; Russell Buchanan; Giorgio Valsecchi; Ruben Grandia; Maurice F. Fallon; Marco Hutter 001 (J. Field Robotics, 2020)

Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry. - David Wisth; Marco Camurri; Sandipan Das; Maurice F. Fallon (IEEE Robotics Autom. Lett., 2021)

Hilti-Oxford Dataset: A Millimetre-Accurate Benchmark for Simultaneous Localization and Mapping. - Lintong Zhang; Michael Helmberger; Lanke Frank Tarimo Fu; David Wisth; Marco Camurri; Davide Scaramuzza 001; Maurice F. Fallon (CoRR, 2022)

Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometry. - Lintong Zhang; David Wisth; Marco Camurri; Maurice F. Fallon (IEEE Robotics Autom. Lett., 2022)

CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge. - Marco Tranzatto; Frank Mascarich; Lukas Bernreiter; Carolina Godinho; Marco Camurri; Shehryar Khattak; Tung Dang; Victor Reijgwart; Johannes Loeje; David Wisth; Samuel Zimmermann; Huan Nguyen 003; et al. (Field Robotics, 2022)

Hilti-Oxford Dataset: A Millimeter-Accurate Benchmark for Simultaneous Localization and Mapping. - Lintong Zhang; Michael Helmberger; Lanke Frank Tarimo Fu; David Wisth; Marco Camurri; Davide Scaramuzza 001; Maurice F. Fallon (IEEE Robotics Autom. Lett., 2023)

VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots. - David Wisth; Marco Camurri; Maurice F. Fallon (IEEE Trans. Robotics, 2023)

Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned. - Marco Tranzatto; Mihir Dharmadhikari; Lukas Bernreiter; Marco Camurri; Shehryar Khattak; Frank Mascarich; Patrick Pfreundschuh; David Wisth; Samuel Zimmermann; Mihir Kulkarni; Victor Reijgwart; Benoit Casseau; et al. (Field Robotics, 2024)