Multimodal Sensor Fusion for Road Surface Identification Considering Vehicle Dynamic Characteristics
Abstract: Multi-source sensors, such as LiDAR, cameras, Inertial Measurement Units (IMU), and suspension displacement sensors, can describe road surface characteristics from different dimensions.
Abstract: This letter introduces two multi-sensor state estimation frameworks for quadruped robots, built on the Invariant Extended Kalman Filter (InEKF) and Invariant Smoother (IS). The proposed ...
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