Legged Robot State Estimation using Invariant Kalman Filtering and Learned Contact Events.

Tzu-Yuan Lin Ray Zhang Justin Yu Maani Ghaffari

Published in: CoRL (2021)

Keyphrases

kalman filtering
state estimation
kalman filter
legged robots
particle filtering
extended kalman filter
state space model
contact force
multi frame
machine learning
particle filter
face recognition
high quality
object tracking