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Lanke Frank Tarimo Fu

6 accepted papers

2025

Boxi: Design Decisions in the Context of Algorithmic Performance for Robotics

Jonas Frey, Turcan Tuna, Lanke Frank Tarimo Fu, Cedric Weibel, Katharine Patterson, Benjamin Krummenacher +5
RSS 2025poster

Achieving robust autonomy in mobile robots operating in complex, unstructured environments requires a multimodal sensor suite capable of capturing diverse and complementary information. However, designing such a sensor suite involves multiple critical design decisions, such as sensor selection, comp…

Cited by 1PDF ↗Scholar ↗
2025

ImLPR: Image-based LiDAR Place Recognition using Vision Foundation Models

Minwoo Jung, Lanke Frank Tarimo Fu, Maurice Fallon, Ayoung Kim
CoRL 2025poster

LiDAR Place Recognition (LPR) is a key component in robotic localization, enabling robots to align current scans with prior maps of their environment. While Visual Place Recognition (VPR) has embraced Vision Foundation Models (VFMs) to enhance descriptor robustness, LPR has relied on task-specific m…

Cited by 0Source ↗Scholar ↗
2024

SiLVR: Scalable Lidar-Visual Reconstruction with Neural Radiance Fields for Robotic Inspection

Yifu Tao, Yash Bhalgat, Lanke Frank Tarimo Fu, Matias Mattamala, Nived Chebrolu, Maurice Fallon
ICRA 2024poster

We present a neural-field-based large-scale reconstruction system that fuses lidar and vision data to generate high-quality reconstructions that are geometrically accurate and capture photo-realistic textures. This system adapts the state-of-the-art neural radiance field (NeRF) representation to als…

Cited by 16Source ↗code ↗Scholar ↗
2023

Batch Differentiable Pose Refinement for In-The-Wild Camera/LiDAR Extrinsic Calibration

Lanke Frank Tarimo Fu, Maurice Fallon
CoRL 2023poster

Accurate camera to LiDAR (Light Detection and Ranging) extrinsic calibration is important for robotic tasks carrying out tight sensor fusion --- such as target tracking and odometry. Calibration is typically performed before deployment in controlled conditions using calibration targets, however, thi…

Cited by 6Source ↗Scholar ↗
2023

Extrinsic Calibration of Camera to LIDAR Using a Differentiable Checkerboard Model

Lanke Frank Tarimo Fu, Nived Chebrolu, Maurice Fallon
IROS 2023poster

Multi-modal sensing often involves determining correspondences between each domain's signals, which in turn depends on the accurate extrinsic calibration of the sensors. Challengingly, the camera-LIDAR sensor modalities are quite dissimilar and the narrow field of view of most commercial LIDARs mean…

Cited by 11Source ↗Scholar ↗
2023

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 +1
RA-L 2023

Simultaneous Localization and Mapping (SLAM) is being deployed in real-world applications, however many state-of-the-art solutions still struggle in many common scenarios. A key necessity in progressing SLAM research is the availability of high-quality datasets and fair and transparent benchmarking.

Cited by 79Source ↗Scholar ↗