Cerberus: Low-Drift Visual-Inertial-Leg Odometry For Agile Locomotion.
Shuo YangZixin ZhangZhengyu FuZachary ManchesterPublished in: ICRA (2023)
Keyphrases
- inertial sensors
- quadruped robot
- legged locomotion
- sensor fusion
- position and orientation
- visual information
- high level
- mobile robot
- rough terrain
- visual features
- software development
- degrees of freedom
- dynamic model
- humanoid robot
- agile software development
- development process
- robotic systems
- visual perception
- robot control
- motion sequences
- supply chain
- computer vision