2 papers
cs.RO2026
A Proprioceptive-Only Benchmark for Quadruped State Estimation: ATE, RPE, and Runtime Trade-offs Between Filters and Smoothers
Ylenia Nisticò, João Carlos Virgolino Soares, Joan Solà +1
We compare three state-of-the-art proprioceptive state estimators for quadruped robots: MUSE [1], the Invariant Extended Kalman Filter (IEKF) [2], and the Invariant Smoother (IS) […
cs.RO2026
LIMOncello: Iterated Error-State Kalman Filter on the SGal(3) Manifold for Fast LiDAR-Inertial Odometry
Carlos Pérez-Ruiz, Joan SolÃ
This work introduces LIMOncello, a tightly coupled LiDAR-Inertial Odometry system that models 6-DoF motion on the manifold within an iterated error-state Kalman…