STEP: State Estimator for Legged Robots Using a Preintegrated foot Velocity Factor

作者：Eungchang Mason · 单位：Korea Advanced Institute of Science and Technology, Department of Mechanical Engineering, KAIST, Daejeon, Republic of Korea, Department of Electrical Engineering and KI-AI, KAIST, Daejeon, Republic of Korea · 会议/期刊：IEEE RA-L 2022 · 方向：2022 · 发布日期：2022