Learning Contact Representation for Leg Odometry
cs.RO
Submitted: 2026-06-03
Updated: 2026-10-10
Terminology
Sources
- OCELOT: Odometry and Contact Estimation for Legged Robots
- DogLegs: Robust Proprioceptive State Estimation for Legged Robots Using Multiple Leg-Mounted IMUs
- CoCo-InEKF: State Estimation with Learned Contact Covariances in Dynamic, Contact-Rich Scenarios
- Legged Robot State Estimation using Invariant Kalman Filtering and Learned Contact Events
- Quaternion kinematics for the error-state Kalman filter
- UMAP: Uniform Manifold Approximation and Projection for Dimension Reduction
- A micro Lie theory for state estimation in robotics
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