Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors

作者：Ross Hartley, Josh Mangelson, Lu Gan, Maani Ghaffari Jadidi, Jeffrey M. Walls, Ryan M. Eustice, Jessy W. Grizzle · 单位：College of Engineering, University of Michigan, Ann Arbor, MI, USA, University of Michigan, College of Engineering, Ann Arbor, MI, 48109, USA, University of Michigan, Toyota Research Institute, Toyota Motor Corporation (Switzerland) · 会议/期刊：arXiv preprint · 方向：状态估计 · 发布日期：2017-05