Multi-Sensor State Estimation Fusion on Quadruped Robot Locomotion

Abstract

In this paper, we present a effective state estimation algorithm that combined with various sensors information (Inertial measurement unit, joints encoder, camera and LIDAR)

arXiv commentpaper has some inerial errors and we have to withdraw to prove a better result here

References in corpus (2)

• Quaternion kinematics for the error-state Kalman filter
• State Estimation for Legged Robots Using Contact-Centric Leg Odometry