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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:
Robotics: Science and Systems (2018)
Keyphrases
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kalman filtering
state estimation
kalman filter
state space model
legged robots
extended kalman filter
particle filtering
multi frame
mobile robot
object tracking
image segmentation
three dimensional