Cover Image

Holistic Fusion: Task- and Setup-Agnostic Robot Localization and State Estimation with Factor Graphs

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Nubert, Julian, Tuna, Turcan, Frey, Jonas, Cadena, Cesar, Kuchenbecker, Katherine J., Khattak, Shehryar, Hutter, Marco
Format:	Preprint
Published:	2025
Subjects:	Robotics Computer Vision and Pattern Recognition Systems and Control
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme Environments
by: Tuna, Turcan, et al.
Published: (2022)

Informed, Constrained, Aligned: A Field Analysis on Degeneracy-aware Point Cloud Registration in the Wild
by: Tuna, Turcan, et al.
Published: (2024)

Continuous-Time State Estimation Methods in Robotics: A Survey
by: Talbot, William, et al.
Published: (2024)

GrandTour: A Legged Robotics Dataset in the Wild for Multi-Modal Perception and State Estimation
by: Frey, Jonas, et al.
Published: (2026)

MultiViPerFrOG: A Globally Optimized Multi-Viewpoint Perception Framework for Camera Motion and Tissue Deformation
by: Caccianiga, Guido, et al.
Published: (2024)

Boxi: Design Decisions in the Context of Algorithmic Performance for Robotics
by: Frey, Jonas, et al.
Published: (2025)

CompSLAM: Complementary Hierarchical Multi-Modal Localization and Mapping for Robot Autonomy in Underground Environments
by: Khattak, Shehryar, et al.
Published: (2025)

Dense 3D Reconstruction Through Lidar: A Comparative Study on Ex-vivo Porcine Tissue
by: Caccianiga, Guido, et al.
Published: (2024)

RoadRunner -- Learning Traversability Estimation for Autonomous Off-road Driving
by: Frey, Jonas, et al.
Published: (2024)

Diffusion Based Robust LiDAR Place Recognition
by: Krummenacher, Benjamin, et al.
Published: (2025)

ForestLPR: LiDAR Place Recognition in Forests Attentioning Multiple BEV Density Images
by: Shen, Yanqing, et al.
Published: (2025)

RoadRunner M&M -- Learning Multi-range Multi-resolution Traversability Maps for Autonomous Off-road Navigation
by: Patel, Manthan, et al.
Published: (2024)

CaRLi-V: Camera-RADAR-LiDAR Point-Wise 3D Velocity Estimation
by: Guo, Landson, et al.
Published: (2025)

Learned Perceptive Forward Dynamics Model for Safe and Platform-aware Robotic Navigation
by: Roth, Pascal, et al.
Published: (2025)

Autonomous Forest Inventory with Legged Robots: System Design and Field Deployment
by: Mattamala, Matías, et al.
Published: (2024)

One-Shot Badminton Shuttle Detection for Mobile Robots
by: Dipner, Florentin, et al.
Published: (2026)

Large-Scale Autonomous Gas Monitoring for Volcanic Environments: A Legged Robot on Mount Etna
by: Richter, Julia, et al.
Published: (2026)

ViPlanner: Visual Semantic Imperative Learning for Local Navigation
by: Roth, Pascal, et al.
Published: (2023)

WildOS: Open-Vocabulary Object Search in the Wild
by: Shah, Hardik, et al.
Published: (2026)

Visual Perception Engine: Fast and Flexible Multi-Head Inference for Robotic Vision Tasks
by: Łucki, Jakub, et al.
Published: (2025)

Diffusion-Based Approximate MPC: Fast and Consistent Imitation of Multi-Modal Action Distributions
by: Julbe, Pau Marquez, et al.
Published: (2025)

Robust High-Speed State Estimation for Off-road Navigation using Radar Velocity Factors
by: Nissov, Morten, et al.
Published: (2024)

Autonomous Robotic Radio Source Localization via a Novel Gaussian Mixture Filtering Approach
by: Kim, Sukkeun, et al.
Published: (2025)

Enhancing Robotic Precision in Construction: A Modular Factor Graph-Based Framework to Deflection and Backlash Compensation Using High-Accuracy Accelerometers
by: Kindle, Julien, et al.
Published: (2025)

Risk-Guided Diffusion: Toward Deploying Robot Foundation Models in Space, Where Failure Is Not An Option
by: Thakker, Rohan, et al.
Published: (2025)

DeFM: Learning Foundation Representations from Depth for Robotics
by: Patel, Manthan, et al.
Published: (2026)

BIEVR-LIO: Robust LiDAR-Inertial Odometry through Bump-Image-Enhanced Voxel Maps
by: Pfreundschuh, Patrick, et al.
Published: (2026)

Learning Multi-Agent Local Collision-Avoidance for Collaborative Carrying tasks with Coupled Quadrupedal Robots
by: Bray, Francesca, et al.
Published: (2026)

ROAMER: Robust Offroad Autonomy using Multimodal State Estimation with Radar Velocity Integration
by: Nissov, Morten, et al.
Published: (2024)

Kleinkram: Open Robotic Data Management
by: Püntener, Cyrill, et al.
Published: (2025)

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding
by: Longo, Antonello, et al.
Published: (2025)

Factor Graph Fusion of Raw GNSS Sensing with IMU and Lidar for Precise Robot Localization without a Base Station
by: Beuchert, Jonas, et al.
Published: (2022)

MEM: Multi-Modal Elevation Mapping for Robotics and Learning
by: Erni, Gian, et al.
Published: (2023)

General-Purpose Robotic Navigation via LVLM-Orchestrated Perception, Reasoning, and Acting
by: Lange, Bernard, et al.
Published: (2025)

DAPPER: Discriminability-Aware Policy-to-Policy Preference-Based Reinforcement Learning for Query-Efficient Robot Skill Acquisition
by: Kadokawa, Yuki, et al.
Published: (2025)

Blind Acoustic Parameter Estimation Through Task-Agnostic Embeddings Using Latent Approximations
by: Götz, Philipp, et al.
Published: (2024)

An Efficient Beam Search Algorithm for Active Perception in Mobile Robotics
by: Qu, Kaixian, et al.
Published: (2026)

Large Scale Robotic Material Handling: Learning, Planning, and Control
by: Spinelli, Filippo A., et al.
Published: (2025)

Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision
by: Mattamala, Matías, et al.
Published: (2024)

NaviTrace: Evaluating Embodied Navigation of Vision-Language Models
by: Windecker, Tim, et al.
Published: (2025)