The authors extend invariant EKF and invariant smoother estimators for legged robots with LiDAR odometry and GPS observations, claiming better position accuracy than LIO-SAM and FAST-LIO2 on indoor and outdoor runs.
Invariant smoother for legged robot state estimation with dynamic contact event information,
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Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing
The authors extend invariant EKF and invariant smoother estimators for legged robots with LiDAR odometry and GPS observations, claiming better position accuracy than LIO-SAM and FAST-LIO2 on indoor and outdoor runs.