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Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation Using Factor Graphs.

Ross HartleyMaani Ghaffari JadidiLu GanJiunn-Kai HuangJessy W. GrizzleRyan M. Eustice
Published in: IROS (2018)
Keyphrases
  • state estimation
  • kalman filter
  • factor graphs
  • particle filter
  • graphical models
  • visual tracking
  • dynamic systems
  • kalman filtering
  • video sequences
  • approximate inference