Learning Inertial Odometry for Dynamic Legged Robot State Estimation

1 November 2021

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

28 / 28 papers shown

Title
Tightly-Coupled LiDAR-IMU-Leg Odometry with Online Learned Leg Kinematics Incorporating Foot Tactile Information Taku Okawara Kenji Koide Aoki Takanose Shuji Oishi Masashi Yokozuka Kentaro Uno Kazuya Yoshida 76 0 0 11 Jun 2025
Robust Reinforcement Learning-Based Locomotion for Resource-Constrained Quadrupeds with Exteroceptive Sensing Davide Plozza Patricia Apostol Paul Joseph Simon Schläpfer Michele Magno 108 0 0 18 May 2025
High-Performance Reinforcement Learning on Spot: Optimizing Simulation Parameters with Distributional Measures A. J Miller Fangzhou Yu Michael Brauckmann Farbod Farshidian OffRL BDL 110 1 0 24 Apr 2025
Holistic Fusion: Task- and Setup-Agnostic Robot Localization and State Estimation with Factor Graphs Julian Nubert Turcan Tuna Jonas Frey Cesar Cadena Katherine J. Kuchenbecker Shehryar Khattak Marco Hutter 89 3 0 08 Apr 2025
Legged Robot State Estimation Using Invariant Neural-Augmented Kalman Filter with a Neural Compensator Seokju Lee Hyun-Bin Kim Kyung-soo Kim 71 0 0 01 Mar 2025
DeepVL: Dynamics and Inertial Measurements-based Deep Velocity Learning for Underwater Odometry Mohit Singh Kostas Alexis 159 0 0 11 Feb 2025
AirIO: Learning Inertial Odometry with Enhanced IMU Feature Observability Yuheng Qiu Can Xu Yutian Chen Shibo Zhao Junyi Geng Sebastian A. Scherer 78 0 0 26 Jan 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 84 0 0 24 Jan 2025
SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience Elliot Chane-Sane Joseph Amigo Thomas Flayols Ludovic Righetti Nicolas Mansard 112 7 0 20 Sep 2024
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 104 1 0 12 Jul 2024
The Kinetics Observer: A Tightly Coupled Estimator for Legged Robots Arnaud Demont M. Benallegue Abdelaziz Benallegue P. Gergondet Antonin Dallard Rafael Cisneros Masaki Murooka F. Kanehiro 82 1 0 19 Jun 2024
Humanoid Parkour Learning Ziwen Zhuang Shenzhe Yao Hang Zhao 102 54 0 15 Jun 2024
3D Freehand Ultrasound using Visual Inertial and Deep Inertial Odometry for Measuring Patellar Tracking Russell Buchanan S. J. Tu Marco Camurri Stephen J. Mellon Maurice Fallon 80 1 0 24 Apr 2024
Simultaneous State Estimation and Contact Detection for Legged Robots by Multiple-Model Kalman Filtering Marcel Menner K. Berntorp 70 5 0 04 Apr 2024
Visual Whole-Body Control for Legged Loco-Manipulation Minghuan Liu Zixuan Chen Xuxin Cheng Yandong Ji Ri-Zhao Qiu Ruihan Yang Xiaolong Wang 131 57 0 25 Mar 2024
HCTO: Optimality-Aware LiDAR Inertial Odometry with Hybrid Continuous Time Optimization for Compact Wearable Mapping System Jianping Li Shenghai Yuan Muqing Cao Thien-Minh Nguyen Kun Cao Lihua Xie 97 28 0 21 Mar 2024
Centroidal State Estimation based on the Koopman Embedding for Dynamic Legged Locomotion Shahram Khorshidi Murad Dawood Maren Bennewitz 73 2 0 20 Mar 2024
Legged Robot State Estimation With Invariant Extended Kalman Filter Using Neural Measurement Network D. Youm Hyunsik Oh Suyoung Choi Hyeongjun Kim Jemin Hwangbo 62 6 0 01 Feb 2024
A Group Theoretic Metric for Robot State Estimation Leveraging Chebyshev Interpolation Varun Agrawal F. Dellaert 76 1 0 30 Jan 2024
OptiState: State Estimation of Legged Robots using Gated Networks with Transformer-based Vision and Kalman Filtering Alexander Schperberg Yusuke Tanaka S. Mowlavi Feng Xu Bharathan Balaji Dennis W. Hong 73 5 0 30 Jan 2024
AirIMU: Learning Uncertainty Propagation for Inertial Odometry Yuheng Qiu Chen Wang Can Xu Yutian Chen Xunfei Zhou Youjie Xia Sebastian A. Scherer 135 8 0 07 Oct 2023
Robot Parkour Learning Ziwen Zhuang Zipeng Fu Jianren Wang Christopher G Atkeson Soeren Schwertfeger Chelsea Finn Hang Zhao 139 162 0 11 Sep 2023
Deep Learning for Inertial Positioning: A Survey Changhao Chen Xianfei Pan 81 53 0 07 Mar 2023
Recent Advancements in Deep Learning Applications and Methods for Autonomous Navigation: A Comprehensive Review Arman Asgharpoor Golroudbari M. Sabour 84 22 0 22 Feb 2023
Deep IMU Bias Inference for Robust Visual-Inertial Odometry with Factor Graphs Russell Buchanan Varun Agrawal Marco Camurri F. Dellaert Maurice F. Fallon 63 31 0 08 Nov 2022
Learned Inertial Odometry for Autonomous Drone Racing Giovanni Cioffi L. Bauersfeld Elia Kaufmann Davide Scaramuzza 87 22 0 27 Oct 2022
WGICP: Differentiable Weighted GICP-Based Lidar Odometry Sanghyun Son Jing Liang Ming Lin Tianyi Zhou 3DPC 46 1 0 20 Sep 2022
Multivariate Uncertainty in Deep Learning Rebecca L. Russell Christopher P. Reale BDL UQCV 69 71 0 31 Oct 2019