LAG-IO: Multi-IMU State Estimation for Legged Robots Using F
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Source roundup from published reports. Claims below are attributed to their publishers, not independently verified. arXiv Robotics — research abstracts: LAG-IO: Multi-IMU State Estimation for Legged Robots Using Factor Graphs. This research proposes LAG-IO, a factor graph-based state estimation framework for legged robots that integrates multiple IMUs and joint encoders. The method includes a continuous probabilistic contact detection module a…
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- arXiv Robotics — research abstractsLAG-IO: Multi-IMU State Estimation for Legged Robots Using Factor Graphs
This research proposes LAG-IO, a factor graph-based state estimation framework for legged robots that integrates multiple IMUs and joint encoders. The method includes a continuous probabilistic contact detection module and kinematic relative position factors to improve trajectory accuracy and reduce vertical divergence in unstructured environments.
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