Papers
22
Total Citations
1,001
H-Index
14
About
Marco Camurri is a robotics researcher whose work sits at the intersection of state estimation, sensor fusion, and autonomous navigation for legged robots. His most significant contributions center on developing robust odometry systems that allow quadrupeds and aerial platforms to operate reliably across challenging, real-world environments. His flagship system, VILENS (2022, 160 citations), exemplifies this vision through tight fusion of visual, inertial, lidar, and leg odometry within a unified factor graph framework, enabling reliable navigation even when individual sensors fail. Complementing this, his Pronto framework (2020, 93 citations) established a flexible multi-sensor state estimator now widely adopted in legged robotics research. Camurri has also addressed foundational challenges in contact estimation and IMU bias modeling, improving the reliability of leg odometry on slippery and deformable terrain. His contributions extend to real-world deployment, most notably through the CERBERUS team's performance in the DARPA Subterranean Challenge (2022, 109 citations), where autonomous legged and aerial robots navigated complex underground environments. With over 700 cumulative citations across his top works and contributions spanning hardware development to deep learning-aided estimation, Camurri has established himself as a leading voice in the field of legged robot autonomy.
Research Focus
Key Achievements
Top Papers
- 1VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots160 citations · 2022
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- 6Fast and Continuous Foothold Adaptation for Dynamic Locomotion Through CNNs70 citations · 2019
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