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Absolute humanoid localization and mapping based on IMU Lie group and fiducial markers

 Mederic Fourmy , Dinesh Atchuthan , Nicolas Mansard , Joan Sola , Thomas Flayols
IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids 2019), Oct 2019, Toronto, Canada. ⟨10.1109/Humanoids43949.2019.9035005⟩
Communication dans un congrès hal-02183498v4
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Contact forces pre-integration for the whole body estimation of legged robots

 Mederic Fourmy , Thomas Flayols , Nicolas Mansard , Joan Solà
IEEE International Conference on Robotics and Automation - ICRA 2021, May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9561037⟩
Communication dans un congrès hal-02991717v1
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State estimation and localization of legged robots : a tightly-coupled approach based on a-posteriori maximization

 Mederic Fourmy
Automatic. INSA de Toulouse, 2022. English. ⟨NNT : 2022ISAT0005⟩
Thèse tel-03715727v1
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CosySlam: investigating object-level SLAM for detecting locomotion surfaces

 César Debeunne , Médéric Fourmy , Yann Labbé , Pierre-Alexandre Léziart , Guilhem Saurel , et al.
2022
Pré-publication, Document de travail hal-03351438v2
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