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Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update.
Sangli Teng
Mark Wilfried Mueller
Koushil Sreenath
Published in:
ICRA (2021)
Keyphrases
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state estimation
extended kalman filter
kalman filter
kalman filtering
particle filter
legged robots
dynamic systems
state space model
unscented kalman filter
visual tracking
particle filtering
dynamic environments
optical flow
real world
neural network
target tracking
real time
estimation process