Cerberus: Low-Drift Visual-Inertial-Leg Odometry For Agile Locomotion
Shuo Yang,Zixin Zhang,Zhengyu Fu,Zachary Manchester,Shuo Yang,Zixin Zhang,Zhengyu Fu,Zachary Manchester
We present an open-source Visual-Inertial-Leg Odometry (VILO) state estimation solution for legged robots, called Cerberus, which precisely estimates position on various terrains in real-time using a set of standard sensors, including stereo cameras, IMU, joint encoders, and contact sensors. In addition to estimating robot states, we perform online kinematic parameter calibration and outlier rejec...
