Outlier-Robust State Estimation for Humanoid Robots*

IROS, pp. 706-713, 2019.

Cited by: 4|Views14


Contemporary humanoids are equipped with visual and LiDAR sensors that are effectively utilized for Visual Odometry (VO) and LiDAR Odometry (LO). Unfortunately, such measurements commonly suffer from outliers in a dynamic environment, since frequently it is assumed that only the robot is in motion and the world is static. To this end, rob...More



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