Benchmark of MUSE, IEKF, and IS on CYN-1 sequence shows similar RPEs, lower ATE for IEKF and IS, and accuracy-latency trade-offs with open-source evaluation code.
State estimation for legged robots: consistent fusion of leg kinematics and IMU
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A Proprioceptive-Only Benchmark for Quadruped State Estimation: ATE, RPE, and Runtime Trade-offs Between Filters and Smoothers
Benchmark of MUSE, IEKF, and IS on CYN-1 sequence shows similar RPEs, lower ATE for IEKF and IS, and accuracy-latency trade-offs with open-source evaluation code.