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VILENS: Visual, inertial, lidar, and leg odometry for all-terrain legged robots

Abstract:

We present visual inertial lidar legged navigation system (VILENS), an odometry system for legged robots based on factor graphs. The key novelty is the tight fusion of four different sensor modalities to achieve reliable operation when the individual sensors would otherwise produce degenerate estimation. To minimize leg odometry drift, we extend the robot's state with a linear velocity bias term, which is estimated online. This bias is observable because of the tight fusion of this preintegra...

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Publication status:
Published
Peer review status:
Peer reviewed

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Publisher copy:
10.1109/TRO.2022.3193788

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Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Role:
Author
ORCID:
0000-0003-2940-0879
Publisher:
IEEE
Journal:
IEEE Transactions on Robotics More from this journal
Volume:
39
Issue:
1
Pages:
309-326
Publication date:
2022-08-09
Acceptance date:
2022-07-07
DOI:
EISSN:
1941-0468
ISSN:
1552-3098
Language:
English
Keywords:
Pubs id:
1276089
Local pid:
pubs:1276089
Deposit date:
2022-09-13

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