Maurice F. Fallon

Orcid: 0000-0003-2940-0879

Affiliations:
  • University of Oxford, UK
  • MIT Computer Science and Artificial Intelligence Laboratory, Cambridge, USA (former)


According to our database1, Maurice F. Fallon authored at least 87 papers between 2009 and 2023.

Collaborative distances:

Timeline

Legend:

Book 
In proceedings 
Article 
PhD thesis 
Dataset
Other 

Links

Online presence:

On csauthors.net:

Bibliography

2023
Observability-Aware Online Multi-Lidar Extrinsic Calibration.
IEEE Robotics Autom. Lett., May, 2023

VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots.
IEEE Trans. Robotics, February, 2023

Hilti-Oxford Dataset: A Millimeter-Accurate Benchmark for Simultaneous Localization and Mapping.
IEEE Robotics Autom. Lett., 2023

Deep IMU Bias Inference for Robust Visual-Inertial Odometry With Factor Graphs.
IEEE Robotics Autom. Lett., 2023

Osprey: Multi-Session Autonomous Aerial Mapping with LiDAR-based SLAM and Next Best View Planning.
CoRR, 2023

Language-EXtended Indoor SLAM (LEXIS): A Versatile System for Real-time Visual Scene Understanding.
CoRR, 2023

Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection.
CoRR, 2023

Real-time LIDAR localization in natural and urban environments.
CoRR, 2023

InstaLoc: One-shot Global Lidar Localisation in Indoor Environments through Instance Learning.
Proceedings of the Robotics: Science and Systems XIX, Daegu, 2023

Fast Traversability Estimation for Wild Visual Navigation.
Proceedings of the Robotics: Science and Systems XIX, Daegu, 2023

M-LIO: Multi-lidar, multi-IMU odometry with sensor dropout tolerance.
Proceedings of the IEEE Intelligent Vehicles Symposium, 2023

Extrinsic Calibration of Camera to LIDAR Using a Differentiable Checkerboard Model.
IROS, 2023

Factor Graph Fusion of Raw GNSS Sensing with IMU and Lidar for Precise Robot Localization without a Base Station.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Batch Differentiable Pose Refinement for In-The-Wild Camera/LiDAR Extrinsic Calibration.
Proceedings of the Conference on Robot Learning, 2023

2022
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge.
Field Robotics, March, 2022

RLOC: Terrain-Aware Legged Locomotion Using Reinforcement Learning and Optimal Control.
IEEE Trans. Robotics, 2022

Strategies for large scale elastic and semantic LiDAR reconstruction.
Robotics Auton. Syst., 2022

Towards real-time forest inventory using handheld LiDAR.
Robotics Auton. Syst., 2022

Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometry.
IEEE Robotics Autom. Lett., 2022

An Efficient Locally Reactive Controller for Safe Navigation in Visual Teach and Repeat Missions.
IEEE Robotics Autom. Lett., 2022

AEROS: AdaptivE RObust Least-Squares for Graph-Based SLAM.
Frontiers Robotics AI, 2022

Hilti-Oxford Dataset: A Millimetre-Accurate Benchmark for Simultaneous Localization and Mapping.
CoRR, 2022

Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned.
CoRR, 2022

Multi-modal curb detection and filtering.
CoRR, 2022

3D Lidar Reconstruction with Probabilistic Depth Completion for Robotic Navigation.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Unsupervised Learning of Terrain Representations for Haptic Monte Carlo Localization.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Extrinsic Calibration and Verification of Multiple Non-overlapping Field of View Lidar Sensors.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022

2021
Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry.
IEEE Robotics Autom. Lett., 2021

SKD: Keypoint Detection for Point Clouds Using Saliency Estimation.
IEEE Robotics Autom. Lett., 2021

Multi-Camera LiDAR Inertial Extension to the Newer College Dataset.
CoRR, 2021

iMHS: An Incremental Multi-Hypothesis Smoother.
CoRR, 2021

Navigating by touch: haptic Monte Carlo localization via geometric sensing and terrain classification.
Auton. Robots, 2021

Rapid Stability Margin Estimation for Contact-Rich Locomotion.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Learning Camera Performance Models for Active Multi-Camera Visual Teach and Repeat.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Real-Time Trajectory Adaptation for Quadrupedal Locomotion using Deep Reinforcement Learning.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021

ICP Localization and Walking Experiments on a TALOS Humanoid Robot.
Proceedings of the 20th International Conference on Advanced Robotics, 2021

Scalable and Elastic LiDAR Reconstruction in Complex Environments Through Spatial Analysis.
Proceedings of the 10th European Conference on Mobile Robots, 2021

Online Estimation of Diameter at Breast Height (DBH) of Forest Trees Using a Handheld LiDAR.
Proceedings of the 10th European Conference on Mobile Robots, 2021

Learning Inertial Odometry for Dynamic Legged Robot State Estimation.
Proceedings of the Conference on Robot Learning, 8-11 November 2021, London, UK., 2021

2020
Towards autonomous inspection of concrete deterioration in sewers with legged robots.
J. Field Robotics, 2020

Pronto: A Multi-Sensor State Estimator for Legged Robots in Real-World Scenarios.
Frontiers Robotics AI, 2020

The Newer College Dataset: Handheld LiDAR, Inertial and Vision with Ground Truth.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Haptic Sequential Monte Carlo Localization for Quadrupedal Locomotion in Vision-Denied Scenarios.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Preintegrated Velocity Bias Estimation to Overcome Contact Nonlinearities in Legged Robot Odometry.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Actively Mapping Industrial Structures with Information Gain-Based Planning on a Quadruped Robot.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Online LiDAR-SLAM for Legged Robots with Robust Registration and Deep-Learned Loop Closure.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Learning an Expert Skill-Space for Replanning Dynamic Quadruped Locomotion over Obstacles.
Proceedings of the 4th Conference on Robot Learning, 2020

2019
Robust Legged Robot State Estimation Using Factor Graph Optimization.
IEEE Robotics Autom. Lett., 2019

Learning to See the Wood for the Trees: Deep Laser Localization in Urban and Natural Environments on a CPU.
IEEE Robotics Autom. Lett., 2019

SKD: Unsupervised Keypoint Detecting for Point Clouds using Embedded Saliency Estimation.
CoRR, 2019

Multi-controller multi-objective locomotion planning for legged robots.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Learning-driven Coarse-to-Fine Articulated Robot Tracking.
Proceedings of the International Conference on Robotics and Automation, 2019

2018
Seeing the Wood for the Trees: Reliable Localization in Urban and Natural Environments.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

StaticFusion: Background Reconstruction for Dense RGB-D SLAM in Dynamic Environments.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Visual Articulated Tracking in the Presence of Occlusions.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Predicting Alignment Risk to Prevent Localization Failure.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

2017
Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots.
IEEE Robotics Autom. Lett., 2017

Director: A User Interface Designed for Robot Operation with Shared Autonomy.
J. Field Robotics, 2017

Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots.
Proceedings of the Robotics: Science and Systems XIII, 2017

Direct visual SLAM fusing proprioception for a humanoid robot.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Overlap-based ICP tuning for robust localization of a humanoid robot.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Robust shared autonomy for mobile manipulation with continuous scene monitoring.
Proceedings of the 13th IEEE Conference on Automation Science and Engineering, 2017

2016
iDRM: Humanoid Motion Planning with Real-Time End-Pose Selection in Complex Environments.
CoRR, 2016

Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot.
Auton. Robots, 2016

iDRM: Humanoid motion planning with realtime end-pose selection in complex environments.
Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

2015
An Architecture for Online Affordance-based Perception and Whole-body Planning.
J. Field Robotics, 2015

Real-time large-scale dense RGB-D SLAM with volumetric fusion.
Int. J. Robotics Res., 2015

Continuous humanoid locomotion over uneven terrain using stereo fusion.
Proceedings of the 15th IEEE-RAS International Conference on Humanoid Robots, 2015

2014

Drift-free humanoid state estimation fusing kinematic, inertial and LIDAR sensing.
Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots, 2014

2013
The MIT Stata Center dataset.
Int. J. Robotics Res., 2013

Temporally scalable visual SLAM using a reduced pose graph.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Spatially Prioritized and Persistent Text Detection and Decoding.
Proceedings of the Camera-Based Document Analysis and Recognition, 2013

2012
Acoustic Source Localization and Tracking of a Time-Varying Number of Speakers.
IEEE Trans. Speech Audio Process., 2012

Sensor fusion for flexible human-portable building-scale mapping.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Efficient scene simulation for robust monte carlo localization using an RGB-D camera.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

2011
Efficient AUV navigation fusing acoustic ranging and side-scan sonar.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

2010
Acoustic Source Localization and Tracking Using Track Before Detect.
IEEE Trans. Speech Audio Process., 2010

Cooperative AUV Navigation using a Single Maneuvering Surface Craft.
Int. J. Robotics Res., 2010

Mapping Complex Marine Environments with Autonomous Surface Craft.
Proceedings of the Experimental Robotics, 2010

Cooperative localization of marine vehicles using nonlinear state estimation.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

A measurement distribution framework for cooperative navigation using multiple AUVs.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

2009
Cooperative Localization for Autonomous Underwater Vehicles.
Int. J. Robotics Res., 2009

Cooperative AUV Navigation Using a Single Surface Craft.
Proceedings of the Field and Service Robotics, Results of the 7th International Conference, 2009


  Loading...