Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation

19 April 2019

R. Hartley

Maani Ghaffari Jadidi

Ryan Eustice

J. Grizzle

ArXiv PDF HTML

Papers citing "Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation"

44 / 44 papers shown

Title
Learned IMU Bias Prediction for Invariant Visual Inertial Odometry Abdullah Altawaitan Jason Stanley Sambaran Ghosal T. Duong Nikolay Atanasov 31 0 0 10 May 2025
Do We Still Need to Work on Odometry for Autonomous Driving? Cedric Le Gentil Daniil Lisus T. Barfoot 45 0 0 07 May 2025
Debiasing 6-DOF IMU via Hierarchical Learning of Continuous Bias Dynamics Ben Liu Tzu-Yuan Lin Wei Zhang Maani Ghaffari 34 0 0 13 Apr 2025
MUSE: A Real-Time Multi-Sensor State Estimator for Quadruped Robots Ylenia Nisticò J. C. V. Soares Lorenzo Amatucci Geoff Fink Claudio Semini 48 1 0 15 Mar 2025
Design and Control of a Bipedal Robotic Character Ruben Grandia Espen Knoop Michael A. Hopkins Georg Wiedebach Jared Bishop Steven Pickles David Müller Moritz Bächer 50 12 0 10 Jan 2025
Tensegrity Robot Proprioceptive State Estimation with Geometric Constraints W. Tong Tzu-Yuan Lin Jonathan Mi Yicheng Jiang Maani Ghaffari Xiaonan Huang 50 1 0 31 Oct 2024
3D Water Quality Mapping using Invariant Extended Kalman Filtering for Underwater Robot Localization Kaustubh Joshi Tianchen Liu Alan Williams Matthew Gray Xiaomin Lin Nikhil Chopra 26 3 0 17 Sep 2024
Equivariant Filter for Tightly Coupled LiDAR-Inertial Odometry Anbo Tao Yarong Luo Chunxi Xia Chi Guo Xingxing Li 40 1 0 11 Sep 2024
EqNIO: Subequivariant Neural Inertial Odometry Royina Karegoudra Jayanth Yinshuang Xu Ziyun Wang Evangelos Chatzipantazis Daniel Gehrig Kostas Daniilidis 48 4 0 12 Aug 2024
Distributed Invariant Kalman Filter for Cooperative Localization using Matrix Lie Groups Yizhi Zhou Yufan Liu Pengxiang Zhu Xuan Wang 35 1 0 07 May 2024
Legged Robot State Estimation within Non-inertial Environments Zijian He Sangli Teng Tzu-Yuan Lin Maani Ghaffari Yan Gu 35 4 0 24 Mar 2024
GMKF: Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise Sangli Teng Harry Zhang David Jin A. Jasour Maani Ghaffari Luca Carlone 54 10 0 07 Mar 2024
Fast Ergodic Search with Kernel Functions Muchen Sun Ayush Gaggar Peter Trautman Todd Murphey 43 7 0 03 Mar 2024
Equivariant Symmetries for Inertial Navigation Systems Alessandro Fornasier Yixiao Ge Pieter van Goor Robert E. Mahony Stephan Weiss 35 9 0 07 Sep 2023
PIEKF-VIWO: Visual-Inertial-Wheel Odometry using Partial Invariant Extended Kalman Filter Tong Hua Tao Li Ling Pei 22 7 0 14 Mar 2023
Impact-Invariant Control: Maximizing Control Authority During Impacts William Yang Michael Posa 32 4 0 01 Mar 2023
EMV-LIO: An Efficient Multiple Vision aided LiDAR-Inertial Odometry Bingqi Shen Yuyin Chen Fuzhang Han Shuwei Dai R. Xiong Yue Wang 18 1 0 01 Feb 2023
Moment-based Kalman Filter: Nonlinear Kalman Filtering with Exact Moment Propagation Y. Shimizu A. Jasour Maani Ghaffari Shinpei Kato 16 2 0 22 Jan 2023
InGVIO: A Consistent Invariant Filter for Fast and High-Accuracy GNSS-Visual-Inertial Odometry Changwu Liu Chengping Jiang Haowen Wang 17 27 0 27 Oct 2022
Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion Victor Dhédin Haolong Li Shahram Khorshidi Lukas Mack Adithya Kumar Chinnakkonda Ravi ... Paarth Shah F. Grimminger Ludovic Righetti Majid Khadiv Joerg Stueckler 33 11 0 05 Oct 2022
Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer Xihang Yu Sangli Teng Theodor Chakhachiro W. Tong Ting-Ting Li Tzu-Yuan Lin S. Koehler Manuel Ahumada Jeffrey M. Walls Maani Ghaffari 36 13 0 29 Sep 2022
Cerberus: Low-Drift Visual-Inertial-Leg Odometry For Agile Locomotion Shuozhi Yang Zixin Zhang Zhengyu Fu Zachary Manchester 44 29 0 16 Sep 2022
Informable Multi-Objective and Multi-Directional RRT* System for Robot Path Planning Jiunn-Kai Huang Yingjie Tan Dongmyeong Lee Vishnu R. Desaraju J. Grizzle 46 10 0 30 May 2022
Whole-Body Human Kinematics Estimation using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter Prashanth Ramadoss Lorenzo Rapetti Yeshasvi Tirupachuri Riccardo Grieco Gianluca Milani Enrico Valli Stefano Dafarra Silvio Traversaro Daniele Pucci 37 4 0 16 May 2022
Design and Evaluation of an Invariant Extended Kalman Filter for Trunk Motion Estimation with Sensor Misalignment Zenan Zhu S. M. R. Sorkhabadi Yan Gu Wenlong Zhang 24 1 0 16 May 2022
Toward Consistent and Efficient Map-based Visual-inertial Localization: Theory Framework and Filter Design Zhuqing Zhang Yang Song Shoudong Huang R. Xiong Yue Wang 42 11 0 26 Apr 2022
STEP: State Estimator for Legged Robots Using a Preintegrated foot Velocity Factor Yeeun Kim Byeong-Uk Yu E. Lee Joon-ha Kim Hae-Won Park Hyunsam Myung 45 31 0 11 Feb 2022
Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotion Gwanghyeon Ji Juhyeok Mun Hyeongjun Kim Jemin Hwangbo 33 137 0 11 Feb 2022
Equivariant Filter Design for Inertial Navigation Systems with Input Measurement Biases Alessandro Fornasier Yonhon Ng Robert E. Mahony Stephan Weiss 19 20 0 04 Feb 2022
Invariant Filtering for Legged Humanoid Locomotion on Dynamic Rigid Surfaces Yuan Gao C. Yuan Yan Gu 39 19 0 25 Jan 2022
The Geometry of Navigation Problems Axel Barrau Silvere Bonnabel 25 29 0 12 Jan 2022
Coupling Vision and Proprioception for Navigation of Legged Robots Zipeng Fu Ashish Kumar Ananye Agarwal Haozhi Qi Jitendra Malik Deepak Pathak 21 73 0 03 Dec 2021
VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots David Wisth Marco Camurri Maurice F. Fallon 46 119 0 15 Jul 2021
Legged Robot State Estimation using Invariant Kalman Filtering and Learned Contact Events Tzu-Yuan Lin Ray Zhang Justin Yu Maani Ghaffari 37 35 0 29 Jun 2021
Multitask Learning for Scalable and Dense Multilayer Bayesian Map Inference Lu Gan Youngji Kim J. Grizzle Jeffrey M. Walls Ayoung Kim Ryan Eustice Maani Ghaffari 32 15 0 28 Jun 2021
Zero Dynamics, Pendulum Models, and Angular Momentum in Feedback Control of Bipedal Locomotion Yukai Gong J. Grizzle 23 42 0 17 May 2021
Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes L. Krishna Utkarsh Aashu Mishra Guillermo A. Castillo Ayonga Hereid Shishir Kolathaya 12 11 0 04 Apr 2021
Equivariant Filtering Framework for Inertial-Integrated Navigation Yarong Luo Chi Guo Jing-nan Liu 19 27 0 27 Mar 2021
Inertial based Integration with Transformed INS Mechanization in Earth Frame Lubin Chang Jingbo Di F. Qin 29 53 0 03 Mar 2021
Strapdown Inertial Navigation System Initial Alignment based on Group of Double Direct Spatial Isometries Lubin Chang F. Qin Jiangning Xu LLMSV 15 57 0 25 Feb 2021
The Geometry and Kinematics of the Matrix Lie Group $SE_K(3)$ Yarong Luo Mengyuan Wang Chi Guo 27 11 0 02 Dec 2020
Improvements to Target-Based 3D LiDAR to Camera Calibration Jiunn-Kai Huang J. Grizzle 32 89 0 07 Oct 2019
Bayesian Spatial Kernel Smoothing for Scalable Dense Semantic Mapping Lu Gan Ray Zhang J. Grizzle Ryan Eustice Maani Ghaffari 3DV 32 63 0 10 Sep 2019
Continuous Direct Sparse Visual Odometry from RGB-D Images Maani Ghaffari Jadidi William Clark Anthony N. Bloch Ryan Eustice J. Grizzle 17 19 0 03 Apr 2019