An IterIEKF algorithm for quadruped odometry, relying on proprioceptive kinematic constraints, outperforms vanilla IEKF and SO(3) Kalman filters in accuracy and consistency on simulations and real datasets.
Error propagation on the euclidean group with applications to manipulator kinematics
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Iterated Invariant EKF for Quadruped Robot Odometry
An IterIEKF algorithm for quadruped odometry, relying on proprioceptive kinematic constraints, outperforms vanilla IEKF and SO(3) Kalman filters in accuracy and consistency on simulations and real datasets.