397 citations · 707 across the 18 of their papers we have counts for
3 papers · 2 filters
Guaranteed Globally Optimal Planar Pose Graph and Landmark SLAM via Sparse-Bounded Sums-of-Squares Programming
Joshua G. Mangelson, Jinsun Liu, Ryan M. Eustice +1
Autonomous navigation requires an accurate model or map of the environment. While dramatic progress in the prior two decades has enabled large-scale SLAM, the majority of existing…
Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation
Ross Hartley, Maani Ghaffari Jadidi, Jessy W. Grizzle +1
This paper derives a contact-aided inertial navigation observer for a 3D bipedal robot using the theory of invariant observer design. Aided inertial navigation is fundamentally a n…
Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation Using Factor Graphs
Ross Hartley, Maani Ghaffari Jadidi, Lu Gan +3
The factor graph framework is a convenient modeling technique for robotic state estimation where states are represented as nodes, and measurements are modeled as factors. When desi…