The method combines a learned deformation model, continuous B-spline kinematics, and Newton's Second Law to enable accurate pose estimation and metric scale plus gravity recovery in monocular visual odometry on non-rigid platforms.
High compliant series elastic actuation for the robotic leg scarl eth,
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Metric, inertially aligned monocular state estimation via kinetodynamic priors
The method combines a learned deformation model, continuous B-spline kinematics, and Newton's Second Law to enable accurate pose estimation and metric scale plus gravity recovery in monocular visual odometry on non-rigid platforms.