50 citations · 75 across the 8 of their papers we have counts for
7 papers · 1 filter
Four Simple Proprioceptive Estimators for Legged Robots
Frank Dellaert, Chiyun Noh, Varun Agrawal +1
Legged robots carry an IMU, but the inertial solution drifts because consumer-grade IMUs are noisy. However, the feet create intermittent contacts with the environment that can be…
Variable Elimination in Hybrid Factor Graphs for Discrete-Continuous Inference & Estimation
Varun Agrawal, Frank Dellaert
Many problems in robotics involve both continuous and discrete components, and modeling them together for estimation tasks has been a long standing and difficult problem. Hybrid Fa…
A Group Theoretic Metric for Robot State Estimation Leveraging Chebyshev Interpolation
Varun Agrawal, Frank Dellaert
We propose a new metric for robot state estimation based on the recently introduced Lie group definition. Our metric is related to prior metrics for SLAM but expli…
Deep IMU Bias Inference for Robust Visual-Inertial Odometry with Factor Graphs
Russell Buchanan, Varun Agrawal, Marco Camurri +2
Visual Inertial Odometry (VIO) is one of the most established state estimation methods for mobile platforms. However, when visual tracking fails, VIO algorithms quickly diverge due…
Proprioceptive State Estimation of Legged Robots with Kinematic Chain Modeling
Varun Agrawal, Sylvain Bertrand, Robert Griffin +1
Legged robot locomotion is a challenging task due to a myriad of sub-problems, such as the hybrid dynamics of foot contact and the effects of the desired gait on the terrain. Accur…
Continuous-time State & Dynamics Estimation using a Pseudo-Spectral Parameterization
Varun Agrawal, Frank Dellaert
We present a novel continuous time trajectory representation based on a Chebyshev polynomial basis, which when governed by known dynamics models, allows for full trajectory and rob…
iMHS: An Incremental Multi-Hypothesis Smoother
Fan Jiang, Varun Agrawal, Russell Buchanan +2
State estimation of multi-modal hybrid systems is an important problem with many applications in the field robotics. However, incorporating discrete modes in the estimation process…