Learning Inertial Odometry for Dynamic Legged Robot State Estimation

Learning Inertial Odometry for Dynamic Legged Robot State Estimation

1 November 2021

Russell Buchanan

Maurice F. Fallon

Papers citing "Learning Inertial Odometry for Dynamic Legged Robot State Estimation"

16 / 16 papers shown

Title
High-Performance Reinforcement Learning on Spot: Optimizing Simulation Parameters with Distributional Measures A. J Miller Fangzhou Yu Michael Brauckmann Farbod Farshidian OffRL BDL 81 0 0 24 Apr 2025
Enhancing Robotic Precision in Construction: A Modular Factor Graph-Based Framework to Deflection and Backlash Compensation Using High-Accuracy Accelerometers Julien Kindle Michael Loetscher Andrea Alessandretti Cesar Cadena Marco Hutter 51 0 0 24 Jan 2025
Tightly-Coupled LiDAR-IMU-Wheel Odometry with an Online Neural Kinematic Model Learning via Factor Graph Optimization Taku Okawara Kenji Koide Shuji Oishi Masashi Yokozuka A. Banno Kentaro Uno Kazuya Yoshida 70 0 0 12 Jul 2024
IMU Data Processing For Inertial Aided Navigation: A Recurrent Neural Network Based Approach Ming Zhang Mingming Zhang Yiming Chen Mingyang Li 110 40 0 26 Mar 2021
Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry David Wisth Marco Camurri Sandipan Das Maurice F. Fallon 39 100 0 13 Nov 2020
Learning Quadrupedal Locomotion over Challenging Terrain Joonho Lee Jemin Hwangbo Lorenz Wellhausen V. Koltun Marco Hutter 97 1,154 0 21 Oct 2020
TLIO: Tight Learned Inertial Odometry Wenxin Liu David Caruso Eddy Ilg Jing Dong Anastasios I. Mourikis Kostas Daniilidis Vijay Kumar Jakob Engel 105 173 0 06 Jul 2020
Multivariate Uncertainty in Deep Learning Rebecca L. Russell Christopher P. Reale BDL UQCV 49 69 0 31 Oct 2019
Preintegrated Velocity Bias Estimation to Overcome Contact Nonlinearities in Legged Robot Odometry David Wisth Marco Camurri Maurice F. Fallon 30 32 0 22 Oct 2019
RoNIN: Robust Neural Inertial Navigation in the Wild: Benchmark, Evaluations, and New Methods Hang Yan Sachini Herath Yasutaka Furukawa 50 255 0 30 May 2019
AI-IMU Dead-Reckoning Martin Brossard Axel Barrau Silvère Bonnabel 66 201 0 12 Apr 2019
Robust Legged Robot State Estimation Using Factor Graph Optimization David Wisth Marco Camurri Maurice F. Fallon 29 77 0 05 Apr 2019
Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation Using Factor Graphs R. Hartley M. G. Jadidi Lu Gan Jiunn-Kai Huang J. Grizzle Ryan Eustice 51 54 0 20 Mar 2018
IONet: Learning to Cure the Curse of Drift in Inertial Odometry Changhao Chen Chris Xiaoxuan Lu Andrew Markham A. Trigoni 49 285 0 30 Jan 2018
Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors R. Hartley Josh Mangelson Lu Gan M. G. Jadidi Jeffrey M. Walls Ryan Eustice J. Grizzle 42 51 0 15 Dec 2017
Deep Residual Learning for Image Recognition Kaiming He Xinming Zhang Shaoqing Ren Jian Sun MedIm 1.6K 192,638 0 10 Dec 2015