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cs.RO2024
Proprioceptive State Estimation for Quadruped Robots using Invariant Kalman Filtering and Scale-Variant Robust Cost Functions
Hilton Marques Souza Santana, João Carlos Virgolino Soares, Ylenia Nisticò +2
Accurate state estimation is crucial for legged robot locomotion, as it provides the necessary information to allow control and navigation. However, it is also challenging, especia…
cs.RO2024★ 1 cited
Panoptic-SLAM: Visual SLAM in Dynamic Environments using Panoptic Segmentation
Gabriel Fischer Abati, João Carlos Virgolino Soares, Vivian Suzano Medeiros +2
The majority of visual SLAM systems are not robust in dynamic scenarios. The ones that deal with dynamic objects in the scenes usually rely on deep-learning-based methods to detect…