Systematic evaluation on an ANYmal D quadruped shows stereo global-shutter cameras outperform monocular, RGB-D, and rolling-shutter setups, while standard inertial integration can degrade vision-based SLAM under legged dynamics.
Fusionportablev2: A unified multi-sensor dataset for generalized slam across diverse platforms and scalable environments,
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Sensor Configuration Matters: A Systematic Evaluation of Multimodal SLAM on Quadruped Robots
Systematic evaluation on an ANYmal D quadruped shows stereo global-shutter cameras outperform monocular, RGB-D, and rolling-shutter setups, while standard inertial integration can degrade vision-based SLAM under legged dynamics.