A bi-level optimization framework jointly calibrates noise covariances and kinematic parameters for improved state estimation accuracy in legged robots.
Noise covariance identification for nonlinear systems using expectation maximization and moving horizon estimation,
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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.