Fabio Elnecave Xavier — accepted AI-conference papers

2025

Exosense: A Vision-Based Scene Understanding System for Exoskeletons

Jianeng Wang, Matías Mattamala, Christina Kassab, Guillaume Burger, Fabio Elnecave Xavier, Lintong Zhang +2

RA-L 2025

Self-balancing exoskeletons are a key enabling technology for individuals with mobility impairments. While the current challenges focus on human-compliant hardware and control, unlocking their use for daily activities requires a scene perception system. In this work, we present <italic xmlns:mml="ht

Cited by 4 Source ↗Scholar ↗

2025

Leg Exoskeleton Odometry using a Limited FOV Depth Sensor

Fabio Elnecave Xavier, Matis Viozelange, Guillaume Burger, Marine Pétriaux, Jean-Emmanuel Deschaud, François Goulette

ICRA 2025

For leg exoskeletons to operate effectively in real-world environments, they must be able to perceive and understand the terrain around them. However, unlike other legged robots, exoskeletons face specific constraints on where depth sensors can be mounted due to the presence of a human user. These c

Cited by 0 Source ↗Scholar ↗

2023

Multi-IMU Proprioceptive State Estimator for Humanoid Robots

Fabio Elnecave Xavier, Guillaume Burger, Marine Pétriaux, Jean-Emmanuel Deschaud, François Goulette

IROS 2023poster

Algorithms for state estimation of humanoid robots usually assume that the feet remain flat and in a constant position while in contact with the ground. However, this hypothesis is easily violated while walking, especially for human-like gaits with heel-toe motion. This reduces the time during which…

Cited by 5 Source ↗Scholar ↗