Many estimation, planning, and optimal control problems in robotics have an optimization
problem at their core. In most of these optimization problems, the objective to be maximized …

We present visual inertial lidar legged navigation system (VILENS), an odometry system for
legged robots based on factor graphs. The key novelty is the tight fusion of four different …

We present an efficient multi-sensor odometry system for mobile platforms that jointly
optimizes visual, lidar, and inertial information within a single integrated factor graph. This …

The recently introduced matrix group provides a 5 5 matrix representation for the orientation,
velocity, and position of an object in the 3-D space, a triplet we call “extended pose.” In this …

In this paper, we present a modular and flexible state estimation framework for legged robots
operating in real-world scenarios, where environmental conditions, such as occlusions, low …

Subterranean robot exploration is difficult, with many mobility, communications, and
navigation challenges that require an approach with a diverse set of systems, and reliable …

We present an open-source Visual-Inertial-Leg Odometry (VILO) state estimation solution for
legged robots, called Cerberus, which precisely estimates position on various terrains in real …

This article proposes an invariant smoother for legged robot state estimation with the
measurement of an inertial measurement unit and leg kinematics while assuming static foot …

Wepropose a novel state estimator for legged robots, STEP, achieved through a novel
preintegrated foot velocity factor. In the preintegrated foot velocity factor, the usual non-slip …

This paper introduces a novel proprioceptive state estimator for legged robots based on a
learned displacement measurement from IMU data. Recent research in pedestrian tracking …