Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update.
Sangli TengMark Wilfried MuellerKoushil SreenathPublished in: CoRR (2021)
Keyphrases
- state estimation
- extended kalman filter
- kalman filter
- kalman filtering
- legged robots
- dynamic systems
- visual tracking
- particle filter
- unscented kalman filter
- state space model
- particle filtering
- optical flow
- complex systems
- dynamic environments
- real world
- neural network
- computationally efficient
- data association
- state space
- simultaneous localization and mapping
- real time