Heterogeneous sensor fusion for accurate state estimation of dynamic legged robots
In this paper we present a system for the state estimation of a dynamically walking and trotting quadruped. The approach fuses four heterogeneous sensor sources (inertial, kinematic, stereo vision and LIDAR) to maintain an accurate and consistent estimate of the robot’s base link velocity and positi...
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Robotics: Science and Systems Foundation
2017
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