STEP: State Estimator for Legged Robots Using a Preintegrated foot
Velocity Factor

STEP: State Estimator for Legged Robots Using a Preintegrated foot Velocity Factor

11 February 2022

Papers citing "STEP: State Estimator for Legged Robots Using a Preintegrated foot Velocity Factor"

19 / 19 papers shown

Title
Robust Localization, Mapping, and Navigation for Quadruped Robots Dyuman Aditya Junning Huang Nico Bohlinger Piotr Kicki Krzysztof Walas Jan Peters Matteo Luperto Davide Tateo 31 0 0 04 May 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 36 3 0 08 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
DogLegs: Robust Proprioceptive State Estimation for Legged Robots Using Multiple Leg-Mounted IMUs Yibin Wu Jian Kuang Shahram Khorshidi X. Niu L. Klingbeil Maren Bennewitz H. Kuhlmann 58 0 0 06 Mar 2025
Multi-Momentum Observer Contact Estimation for Bipedal Robots J. Joe Payne Daniel A. Hagen Denis Garagic Aaron M. Johnson 79 0 0 04 Dec 2024
Proprioceptive State Estimation for Quadruped Robots using Invariant Kalman Filtering and Scale-Variant Robust Cost Functions Hilton Marques Souza Santana João Carlos Virgolino Soares Ylenia Nisticò M. Meggiolaro Claudio Semini 36 3 0 07 Oct 2024
Obstacle-Aware Quadrupedal Locomotion With Resilient Multi-Modal Reinforcement Learning I Made Aswin Nahrendra Byeongho Yu Minho Oh Dongkyu Lee Seunghyun Lee Hyeonwoo Lee Hyungtae Lim Hyun Myung 215 2 0 29 Sep 2024
A New Tightly-Coupled Dual-VIO for a Mobile Manipulator With Dynamic Locomotion Jianxiang Xu Soo Jeon 34 0 0 18 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 39 0 0 19 Jun 2024
Simultaneous State Estimation and Contact Detection for Legged Robots by Multiple-Model Kalman Filtering Marcel Menner K. Berntorp 33 4 0 04 Apr 2024
A Group Theoretic Metric for Robot State Estimation Leveraging Chebyshev Interpolation Varun Agrawal F. Dellaert 24 1 0 30 Jan 2024
Proprioceptive Invariant Robot State Estimation Tzu-Yuan Lin Ting-Ting Li Wenzhe Tong Maani Ghaffari 49 8 0 07 Nov 2023
AdaLIO: Robust Adaptive LiDAR-Inertial Odometry in Degenerate Indoor Environments Hyungtae Lim Daebeom Kim Beomsoo Kim Hyun Myung 29 23 0 25 Apr 2023
ORORA: Outlier-Robust Radar Odometry Hyungtae Lim Kawon Han Gunhee Shin Giseop Kim Songcheol Hong Hyun Myung 33 16 0 03 Mar 2023
DreamWaQ: Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinforcement Learning Aswin Nahrendra Byeong-Uk Yu Hyunsam Myung 32 84 0 25 Jan 2023
X-MAS: Extremely Large-Scale Multi-Modal Sensor Dataset for Outdoor Surveillance in Real Environments Dong-Ki Noh Chan-Yong Sung Teayoung Uhm Wooju Lee Hyungtae Lim ... Ho-Yong Shin MinJung Kim Hyoung-Rock Kim Seung-Ming Baek Hyun Myung 38 5 0 30 Dec 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
Cerberus: Low-Drift Visual-Inertial-Leg Odometry For Agile Locomotion Shuozhi Yang Zixin Zhang Zhengyu Fu Zachary Manchester 44 29 0 16 Sep 2022
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