Real-time pose estimation of a dynamic quadruped in GPS-denied environments for 24-hour operation

I. J. Robotic Res., Volume 35, Issue 6, 2016, Pages 631-653.

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Keywords:
Localizationmobile and distributed robotics SLAMsensor fusionsensing and perception computer visionlegged robotsMore(6+)

Abstract:

We present a real-time system that enables a highly capable dynamic quadruped robot to maintain an accurate six-degree-of-freedom pose estimate within a 1.0% error of distance traveled over long distances traversed through complex, dynamic outdoor terrain, during day and night, in the presence of camera occlusion and saturation, and occas...More

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