Robust Legged Robot State Estimation Using Factor Graph Optimization.

David Wisth Marco Camurri Maurice F. Fallon

Published in: IEEE Robotics Autom. Lett. (2019)

Keyphrases

state estimation
factor graphs
kalman filter
visual tracking
particle filter
kalman filtering
dynamic systems
graphical models
particle filtering
legged robots
machine learning
probabilistic inference
image processing
message passing
model selection
higher order
least squares