A bi-level optimization framework jointly calibrates noise covariances and kinematic parameters for improved state estimation accuracy in legged robots.
On the identification of noise covariances and adaptive kalman filtering: A new look at a 50 year-old problem
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Simultaneous Calibration of Noise Covariance and Kinematics for State Estimation of Legged Robots via Bi-level Optimization
A bi-level optimization framework jointly calibrates noise covariances and kinematic parameters for improved state estimation accuracy in legged robots.