Proprioceptive Invariant Robot State Estimation

Proprioceptive Invariant Robot State Estimation

7 November 2023

Papers citing "Proprioceptive Invariant Robot State Estimation"

11 / 11 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
Debiasing 6-DOF IMU via Hierarchical Learning of Continuous Bias Dynamics Ben Liu Tzu-Yuan Lin Wei Zhang Maani Ghaffari 30 0 0 13 Apr 2025
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
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
Lie Neurons: Adjoint-Equivariant Neural Networks for Semisimple Lie Algebras Tzu-Yuan Lin Minghan Zhu Maani Ghaffari 48 2 0 06 Oct 2023
Convex Geometric Trajectory Tracking using Lie Algebraic MPC for Autonomous Marine Vehicles Junwoo Jang Sangli Teng Maani Ghaffari 35 5 0 15 May 2023
Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation with Online Calibration Alessandro Fornasier Yonhon Ng Christian Brommer Christoph Bohm Robert E. Mahony Stephan Weiss 38 14 0 24 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
Invariant Filtering for Legged Humanoid Locomotion on Dynamic Rigid Surfaces Yuan Gao C. Yuan Yan Gu 39 19 0 25 Jan 2022
Consistent Right-Invariant Fixed-Lag Smoother with Application to Visual Inertial SLAM Jianzhu Huai Yukai Lin Y. Zhuang Min Shi 34 15 0 17 Feb 2021