3 papers
cs.RO2025
Tightly-Coupled LiDAR-IMU-Leg Odometry with Online Learned Leg Kinematics Incorporating Foot Tactile Information
Taku Okawara, Kenji Koide, Aoki Takanose +4
In this letter, we present tightly coupled LiDAR-IMU-leg odometry, which is robust to challenging conditions such as featureless environments and deformable terrains. We developed…
cs.RO2025
Tightly Coupled Range Inertial Odometry and Mapping with Exact Point Cloud Downsampling
Kenji Koide, Aoki Takanose, Shuji Oishi +1
In this work, to facilitate the real-time processing of multi-scan registration error minimization on factor graphs, we devise a point cloud downsampling algorithm based on coreset…
cs.RO2025
Range-based 6-DoF Monte Carlo SLAM with Gradient-guided Particle Filter on GPU
Takumi Nakao, Kenji Koide, Aoki Takanose +3
This paper presents range-based 6-DoF Monte Carlo SLAM with a gradient-guided particle update strategy. While non-parametric state estimation methods, such as particle filters, are…