233 citations · 809 across the 8 of their papers we have counts for
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cs.RO2019★ 38 cited
Preintegrated Velocity Bias Estimation to Overcome Contact Nonlinearities in Legged Robot Odometry
David Wisth, Marco Camurri, Maurice Fallon
In this paper, we present a novel factor graph formulation to estimate the pose and velocity of a quadruped robot on slippery and deformable terrain. The factor graph introduces a…
cs.RO2019★ 86 cited
Robust Legged Robot State Estimation Using Factor Graph Optimization
David Wisth, Marco Camurri, Maurice Fallon
Legged robots, specifically quadrupeds, are becoming increasingly attractive for industrial applications such as inspection. However, to leave the laboratory and to become useful t…