VILENS: Visual, inertial, lidar, and leg odometry for all-terrain legged robots
We present visual inertial lidar legged navigation system (VILENS), an odometry system for legged robots based on factor graphs. The key novelty is the tight fusion of four different sensor modalities to achieve reliable operation when the individual sensors would otherwise produce degenerate estima...
| Main Authors: | , , |
|---|---|
| Format: | Journal article |
| Language: | English |
| Published: |
IEEE
2022
|