2 papers
cs.RO2026
FOCUS: Foot Observation Confidence for Robust Humanoid Proprioceptive Odometry
Kaixin Feng, Angsong Li, Shaopeng Zhang +5
Foot forward kinematics (FK) is widely used to improve proprioceptive legged odometry by providing reliable velocity constraints during foot support. Existing contact-aided estimat…
cs.RO2026
WinTA-GIL: Windowed Trajectory Alignment for GNSS-IMU-LiDAR Heading Refinement in Intermittent Signal Environments
Kaixin Feng, Zhichao Wen, Zhaohong Liao +2
Although multi-source fusion positioning systems have achieved significant progress, accurate and reliable heading estimation remains a critical challenge due to the lack of gravit…