A bi-level optimization framework jointly calibrates noise covariances and kinematic parameters for improved state estimation accuracy in legged robots.
Legged robot state estimation in slippery environments using invariant extended kalman filter with velocity update
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Simultaneous Calibration of Noise Covariance and Kinematics for State Estimation of Legged Robots via Bi-level Optimization
A bi-level optimization framework jointly calibrates noise covariances and kinematic parameters for improved state estimation accuracy in legged robots.