Paper Citation Record · LEDGER

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing

As of 19 August 2026, this Paper Citation Record lists 30 of 30 outbound references and 0 inbound Pith citation observations for arXiv:2504.20615.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2504.20615 v1

Coverage vector

measured 30 of 30 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-16T05:32:49.094998Z

measured 30 of 30 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-19T06:32:44.657259+00:00

measured 0 of 0 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: cited_works

Reference resolution

30 of 30 outbound references displayed

verified exact0
verified fuzzy25
unresolved5
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation c4bc47fe-32da-4a8e-99f1-5fbe8bb76c52 · outbound

This paper cites LIO-SAM: Tightly-coupled lidar inertial odometry via smoothing and mapping,.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing LIO-SAM: Tightly-coupled lidar inertial odometry via smoothing and mapping,

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T05:32:49.694049Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation cd1efd21-0cec-464f-9e88-81bc776686f9 · outbound

This paper cites FAST-LIO: A fast, robust LiDAR-inertial odometry package by tightly-coupled iterated Kalman filter,.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing FAST-LIO: A fast, robust LiDAR-inertial odometry package by tightly-coupled iterated Kalman filter,

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T05:32:49.678973Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation cb095a10-caf1-400a-8bff-0d991f7da320 · outbound

This paper cites FAST-LIO2: Fast direct LiDAR-inertial odometry,.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing FAST-LIO2: Fast direct LiDAR-inertial odometry,

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T05:32:49.662893Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation fb8fc546-82df-41d6-987d-c1fbc2d522d9 · outbound

This paper cites State estimation for legged robots: consistent fusion of leg kinematics and IMU,.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing State estimation for legged robots: consistent fusion of leg kinematics and IMU,

Reference 4

Resolution: unresolved; no resolver link, observed 2026-08-16T05:32:48.957085Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation c1302e66-3711-4def-84b3-b0677d58ec62 · outbound

This paper cites State estimation for legged robots on unstable and slippery terrain,.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing State estimation for legged robots on unstable and slippery terrain,

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T05:32:49.646370Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 1c2e90d0-346a-4a3d-b394-ccffbe52079c · outbound

This paper cites Legged robot state estimation with dynamic contact event information,.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing Legged robot state estimation with dynamic contact event information,

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T05:32:49.630650Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 6a409a95-1ca1-4a44-a3fc-5321cdd5fb98 · outbound

This paper cites The Invariant Extended Kalman Filter as a Stable Observer,.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing The Invariant Extended Kalman Filter as a Stable Observer,

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T05:32:49.613141Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 17c90896-d96c-40e1-bc5d-8eaf43835e3a · outbound

This paper cites Contact-aided invariant extended Kalman filtering for robot state estimation,.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing Contact-aided invariant extended Kalman filtering for robot state estimation,

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T05:32:49.592248Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 95e93821-357c-4a42-9b7d-072cea7e3703 · outbound

This paper cites Legged Robot State Estimation using Invariant Kalman Filtering and Learned Contact Events.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing Legged Robot State Estimation using Invariant Kalman Filtering and Learned Contact Events

Reference 9

Resolution: unresolved; no resolver link, observed 2026-08-16T05:32:48.983851Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 53c4c273-69bc-420b-a4d4-7c9837b8937a · outbound

This paper cites Proprioceptive state estimation for quadruped robots using invariant kalman filtering and scale-variant robust cost functions,.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing Proprioceptive state estimation for quadruped robots using invariant kalman filtering and scale-variant robust cost functions,

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T05:32:49.576008Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation b3a8d10e-8715-4796-bddb-6f34864adb03 · outbound

This paper cites Invariant smoothing on Lie groups,.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing Invariant smoothing on Lie groups,

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T05:32:49.559680Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 2f2338f1-4005-4d0c-9822-988dd0399ac0 · outbound

This paper cites Invariant smoother for legged robot state estimation with dynamic contact event information,.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing Invariant smoother for legged robot state estimation with dynamic contact event information,

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T05:32:49.542631Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation b768a5e6-a8fa-4cbb-b628-aea1116a1144 · outbound

This paper cites Pronto: A multi- sensor state estimator for legged robots in real-world scenarios,.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing Pronto: A multi- sensor state estimator for legged robots in real-world scenarios,

Reference 13

Resolution: unresolved; no resolver link, observed 2026-08-16T05:32:49.005705Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f5f09234-35d7-4d21-bc23-dcedd674cb87 · outbound

This paper cites MUSE: A real-time multi-sensor state estimator for quadruped robots,.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing MUSE: A real-time multi-sensor state estimator for quadruped robots,

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T05:32:49.525779Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation eaceb979-23c9-4962-a31d-ef150683445b · outbound

This paper cites STEP: State estimator for legged robots using a preintegrated foot velocity factor,.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing STEP: State estimator for legged robots using a preintegrated foot velocity factor,

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T05:32:49.509961Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 804c1305-b92a-4d5e-b51a-adce0a611031 · outbound

This paper cites VILENS: Visual, inertial, LiDAR, and leg odometry for all-terrain legged robots,.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing VILENS: Visual, inertial, LiDAR, and leg odometry for all-terrain legged robots,

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T05:32:49.494817Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation b3bbe5b5-62fe-4d22-af44-429d1f9f1741 · outbound

This paper cites Cerberus: Low-drift visual-inertial-leg odometry for agile locomotion,.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing Cerberus: Low-drift visual-inertial-leg odometry for agile locomotion,

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T05:32:49.479114Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 80932a23-ea51-4691-ab45-7983a5d3b8be · outbound

This paper cites Leg-KILO: Robust kinematic-inertial-LiDAR odometry for dynamic legged robots,.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing Leg-KILO: Robust kinematic-inertial-LiDAR odometry for dynamic legged robots,

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T05:32:49.463209Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 6e360fbd-71a6-4a66-a794-f18e7ad76ad0 · outbound

This paper cites Imu data processing for inertial aided navigation: A recurrent neural network based approach,.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing Imu data processing for inertial aided navigation: A recurrent neural network based approach,

Reference 19

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T05:32:49.446439Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 30b1da80-708e-4ae9-8943-515556651504 · outbound

This paper cites Kalmannet: Neural network aided kalman filtering for partially known dynamics,.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing Kalmannet: Neural network aided kalman filtering for partially known dynamics,

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T05:32:49.427117Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 21b58570-ded8-4d7d-a81e-5d97722dc262 · outbound

This paper cites Legged robot state estimation with invariant extended kalman filter using neural measurement network,.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing Legged robot state estimation with invariant extended kalman filter using neural measurement network,

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T05:32:49.410747Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 56240936-0314-4f18-9548-adb8456e8c63 · outbound

This paper cites Optistate: State estimation of legged robots using gated networks with transformer-based vision and kalman filtering,.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing Optistate: State estimation of legged robots using gated networks with transformer-based vision and kalman filtering,

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T05:32:49.394119Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation ce0a8d48-f62e-4fb6-abbe-3a1f17328ce5 · outbound

This paper cites State estimation transformers for agile legged locomotion,.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing State estimation transformers for agile legged locomotion,

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T05:32:49.377540Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation c413ca61-2c3f-4c95-afe6-a04c5be23939 · outbound

This paper cites DiTer++: Diverse Terrain and Multi-modal Dataset for Multi-Robot SLAM in Multi-session Environments.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing DiTer++: Diverse Terrain and Multi-modal Dataset for Multi-Robot SLAM in Multi-session Environments

Reference 24

Resolution: unresolved; no resolver link, observed 2026-08-16T05:32:49.061610Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 9bdc67dc-9e44-43ab-8f91-7ff620585fd4 · outbound

This paper cites Legged robot state estimation in slippery environments using invariant extended Kalman filter with velocity update,.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing Legged robot state estimation in slippery environments using invariant extended Kalman filter with velocity update,

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T05:32:49.358748Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 93816077-4687-466d-8470-62f42507aaf7 · outbound

This paper cites Invariant filtering for legged humanoid locomotion on a dynamic rigid surface,.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing Invariant filtering for legged humanoid locomotion on a dynamic rigid surface,

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T05:32:49.340635Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 50ea27d0-6fd2-40a9-95ee-2a3247320484 · outbound

This paper cites KISS-ICP: In Defense of Point-to-Point ICP – Simple, Accurate, and Robust Registration If Done the Right Way,.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing KISS-ICP: In Defense of Point-to-Point ICP – Simple, Accurate, and Robust Registration If Done the Right Way,

Reference 27

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T05:32:49.323957Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 47dade0d-40b0-43b3-86c2-b89bdb459d56 · outbound

This paper cites Design of KAIST HOUND, a quadruped robot platform for fast and efficient locomotion with mixed- integer nonlinear optimization of a gear train,.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing Design of KAIST HOUND, a quadruped robot platform for fast and efficient locomotion with mixed- integer nonlinear optimization of a gear train,

Reference 28

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T05:32:49.307156Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation e59487e3-fbe1-4fa8-9f3f-e9a330986910 · outbound

This paper cites A micro Lie theory for state estimation in robotics.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing A micro Lie theory for state estimation in robotics

Reference 29

Resolution: unresolved; no resolver link, observed 2026-08-16T05:32:49.089546Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f19765ab-a08d-4bc4-8bdf-95b89af24a00 · outbound

This paper cites Sensorless robot collision detection and hybrid force/motion control,.

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing Sensorless robot collision detection and hybrid force/motion control,

Reference 30

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T05:32:49.290667Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Pith citing papers

No inbound Pith citation observations are available.