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Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation.
Ross Hartley
Maani Ghaffari Jadidi
Jessy W. Grizzle
Ryan M. Eustice
Published in:
CoRR (2018)
Keyphrases
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kalman filtering
state estimation
kalman filter
legged robots
state space model
extended kalman filter
particle filtering
particle filter
multi frame
object tracking