Cerberus: Low-Drift Visual-Inertial-Leg Odometry For Agile Locomotion

16 September 2022

Zixin Zhang

Papers citing "Cerberus: Low-Drift Visual-Inertial-Leg Odometry For Agile Locomotion"

20 / 20 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 26 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 29 3 0 08 Apr 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 53 0 0 06 Mar 2025
Monocular Person Localization under Camera Ego-motion Yu Zhan Hanjing Ye Hong Zhang 44 0 0 04 Mar 2025
Multi-Momentum Observer Contact Estimation for Bipedal Robots J. Joe Payne Daniel A. Hagen Denis Garagic Aaron M. Johnson 74 0 0 04 Dec 2024
Tensegrity Robot Proprioceptive State Estimation with Geometric Constraints W. Tong Tzu-Yuan Lin Jonathan Mi Yicheng Jiang Maani Ghaffari Xiaonan Huang 45 1 0 31 Oct 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 28 3 0 07 Oct 2024
Helpful DoggyBot: Open-World Object Fetching using Legged Robots and Vision-Language Models Qi Wu Zipeng Fu Xuxin Cheng Xiaolong Wang Chelsea Finn LM&Ro 36 8 0 30 Sep 2024
Reinforcement Learning with Lie Group Orientations for Robotics Martin Schuck Jan Brüdigam Sandra Hirche Angela Schoellig 31 0 0 18 Sep 2024
ATI-CTLO:Adaptive Temporal Interval-based Continuous-Time LiDAR-Only Odometry Bo Zhou Jiajie Wu Yan Pan Chuanzhao Lu 44 2 0 30 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 31 0 0 19 Jun 2024
Humanoid Parkour Learning Ziwen Zhuang Shenzhe Yao Hang Zhao 48 37 0 15 Jun 2024
A Standard Rigid Transformation Notation Convention for Robotics Research Philippe Nadeau 46 2 0 12 May 2024
LIKO: LiDAR, Inertial, and Kinematic Odometry for Bipedal Robots Qingrui Zhao Mingyuan Li Yongliang Shi Xuechao Chen Zhangguo Yu ... Zhe Fu Jintao Zhang Chao Li Yuanxi Zhang Qiang Huang 21 2 0 28 Apr 2024
FusionPortableV2: A Unified Multi-Sensor Dataset for Generalized SLAM Across Diverse Platforms and Scalable Environments Hexiang Wei Jianhao Jiao Xiangcheng Hu Jingwen Yu Xupeng Xie Jin Wu Yilong Zhu Yuxuan Liu Lujia Wang Mingming Liu 40 14 0 12 Apr 2024
A Group Theoretic Metric for Robot State Estimation Leveraging Chebyshev Interpolation Varun Agrawal F. Dellaert 8 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 16 4 0 30 Jan 2024
Proprioceptive Invariant Robot State Estimation Tzu-Yuan Lin Ting-Ting Li Wenzhe Tong Maani Ghaffari 41 8 0 07 Nov 2023
Robot Parkour Learning Ziwen Zhuang Zipeng Fu Jianren Wang Christopher G Atkeson Soeren Schwertfeger Chelsea Finn Hang Zhao 45 142 0 11 Sep 2023
VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots David Wisth Marco Camurri Maurice F. Fallon 43 118 0 15 Jul 2021