A low-cost quadruped SLAM stack that adds IMU-stabilized depth scans and leg-odometry velocity constraints achieves accurate 2D mapping, localization, and navigation in indoor environments.
Grow your limits: Continuous improvement with real-world rl for robotic locomotion,
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Robust Localization, Mapping, and Navigation for Quadruped Robots
A low-cost quadruped SLAM stack that adds IMU-stabilized depth scans and leg-odometry velocity constraints achieves accurate 2D mapping, localization, and navigation in indoor environments.