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most citedMulti-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing

10 citations · 10 across the 5 of their papers we have counts for

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cs.RO2025★ 10 cited

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing

Ylenia Nisticò, Hajun Kim, João Carlos Virgolino Soares +3

This letter introduces two multi-sensor state estimation frameworks for quadruped robots, built on the Invariant Extended Kalman Filter (InEKF) and Invariant Smoother (IS). The pro…

cs.RO2025

MUSE: A Real-Time Multi-Sensor State Estimator for Quadruped Robots

Ylenia Nisticò, João Carlos Virgolino Soares, Lorenzo Amatucci +2

This paper introduces an innovative state estimator, MUSE (MUlti-sensor State Estimator), designed to enhance state estimation's accuracy and real-time performance in quadruped rob…