Preintegrated Velocity Bias Estimation to Overcome Contact Nonlinearities in Legged Robot Odometry
David Wisth,Marco Camurri,Maurice Fallon,David Wisth,Marco Camurri,Maurice Fallon
In this paper, we present a novel factor graph formulation to estimate the pose and velocity of a quadruped robot on slippery and deformable terrain. The factor graph introduces a preintegrated velocity factor that incorporates velocity inputs from leg odometry and also estimates related biases. From our experimentation we have seen that it is difficult to model uncertainties at the contact point ...
