57 citations · 62 across the 3 of their papers we have counts for
3 papers
Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation
Ross Hartley, Maani Ghaffari, Ryan M. Eustice +1
Legged robots require knowledge of pose and velocity in order to maintain stability and execute walking paths. Current solutions either rely on vision data, which is susceptible to…
Continuous Direct Sparse Visual Odometry from RGB-D Images
Maani Ghaffari, William Clark, Anthony Bloch +2
This paper reports on a novel formulation and evaluation of visual odometry from RGB-D images. Assuming a static scene, the developed theoretical framework generalizes the widely u…
Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation
Ross Hartley, Maani Ghaffari Jadidi, Jessy W. Grizzle +1
This paper derives a contact-aided inertial navigation observer for a 3D bipedal robot using the theory of invariant observer design. Aided inertial navigation is fundamentally a n…