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Contact Forces Preintegration for Estimation in Legged Robotics using Factor Graphs.

Médéric FourmyThomas FlayolsPierre-Alexandre LéziartNicolas MansardJoan Solà
Published in: ICRA (2021)
Keyphrases
  • factor graphs
  • message passing
  • contact force
  • graphical models
  • belief propagation
  • computer vision
  • approximate inference
  • latent variables
  • parameter estimation
  • legged robots
  • bayesian networks
  • hidden markov models