Periodic SLAM: Using Cyclic Constraints to Improve the Performance of Visual-Inertial SLAM on Legged Robots
Hans Kumar,J. Joe Payne,Matthew Travers,Aaron M. Johnson,Howie Choset,Hans Kumar,J. Joe Payne,Matthew Travers,Aaron M. Johnson,Howie Choset
Methods for state estimation that rely on visual information are challenging on legged robots due to rapid changes in the viewing angle of onboard cameras. In this work, we show that by leveraging structure in the way that the robot locomotes, the accuracy of visual-inertial SLAM in these challenging scenarios can be increased. We present a method that takes advantage of the underlying periodic pr...
