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cs.RO2026
Invariant Kalman filtering for extended pose estimation in multi-IMU articulated rigid-body systems
Sven Goffin, Cédric Schwartz, Silvère Bonnabel +2
Accurate extended pose estimation (orientation, velocity, and position) for IMU-instrumented articulated rigid-body systems is a key challenge in robotics and human motion analysis…
cs.RO2026
Iterated Invariant EKF for Quadruped Robot Odometry
Hilton Marques Souza Santana, João Carlos Virgolino Soares, Sven Goffin +4
Kalman filter-based algorithms are fundamental for mobile robots, as they provide a computationally efficient solution to the challenging problem of state estimation. However, they…