Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation

作者：Ross Hartley, Maani Ghaffari, Ryan M Eustice, Jessy W Grizzle · 单位：Robotics Institute and College of Engineering, University of Michigan, Ann Arbor, MI, USA, University of Michigan · 会议/期刊：The International Journal of Robotics Research · 方向：状态估计 · 发布日期：2019-04