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This paper derives a contact-aided inertial navigation observer for a 3D bipedal robot using the theory of invariant observer design.
Optimal filtering
Brian DO Anderson and John B Moore · 1979
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The extended Kalman filter as a local asymptotic observer for nonlinear discrete-time systems
JW Grizzle and Y Song · 1995
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Estimation with applications to tracking and navigation: theory algorithms and software
Yaakov Bar-Shalom, X Rong Li, and Thiagalingam Kirubarajan · 2001
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On invariant asymptotic observers
Nasradine Aghannan and Pierre Rouchon · 2002
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The convergence of the extended Kalman filter
Arthur J Krener · 2003
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Indirect Kalman filter for 3D attitude estimation
Nikolas Trawny and Stergios I Roumeliotis · 2005
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Left-invariant extended Kalman filter and attitude estimation
Silvere Bonnabel · 2007
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Non-linear symmetry-preserving observers on Lie groups
Silvere Bonnabel, Philippe Martin, and Pierre Rouchon · 2009
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Observability-based rules for designing consistent EKF SLAM estimators
Guoquan P. Huang, Anastasios I. Mourikis, and Stergios I. Roumeliotis · 2010
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Invariant extended Kalman filter design for a magnetometer-plus-GPS aided inertial navigation system
Martin Barczyk and Alan F Lynch · 2011
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Stochastic Models, Information Theory, and Lie Groups, Volume 2: Analytic Methods and Modern Applications
Gregory S Chirikjian · 2011
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Visual-inertial-aided navigation for high-dynamic motion in built environments without initial conditions
Todd Lupton and Salah Sukkarieh · 2012
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Invariant observer design for a helicopter UAV aided inertial navigation system
Martin Barczyk and Alan F Lynch · 2013
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State estimation for legged robots-consistent fusion of leg kinematics and IMU
Michael Bloesch, Marco Hutter, Mark A Hoepflinger, Stefan Leutenegger, Christian Gehring, C David Remy, and Roland Siegwart · 2013
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Drift-free humanoid state estimation fusing kinematic, inertial and lidar sensing
Maurice F Fallon, Matthew Antone, Nicholas Roy, and Seth Teller · 2014
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Robot-centric elevation mapping with uncertainty estimates
P Fankhauser, M Bloesch, C Gehring, M Hutter, and R Siegwart · 2014
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State estimation for a humanoid robot
Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot
Scott Kuindersma, Robin Deits, Maurice Fallon, Andrés Valenzuela, Hongkai Dai, Frank Permenter, Twan Koolen, Pat Marion, and Russ Tedrake · 2016
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The invariant extended Kalman filter as a stable observer
Axel Barrau and Silvère Bonnabel · 2017
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State Estimation for Legged Robots–Kinematics, Inertial Sensing, and Computer Vision
Michael Andre Bloesch · 2017
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On-manifold preintegration for real-time visual–inertial odometry
C. Forster, L. Carlone, F. Dellaert, and D. Scaramuzza · 2017
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A mathematical introduction to robotic manipulation
Richard M Murray · 2017
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Heterogeneous sensor fusion for accurate state estimation of dynamic legged robots
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Nicholas Rotella, Michael Bloesch, Ludovic Righetti, and Stefan Schaal · 2014
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Axel Barrau · 2015
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Multimodal sensor fusion for foot state estimation in bipedal robots using the extended kalman filter
Jorhabib Eljaik, Naveen Kuppuswamy, and Francesco Nori · 2015
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Lie groups, Lie algebras, and representations: an elementary introduction , volume 222
Brian Hall · 2015
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Simona Nobili, Marco Camurri, Victor Barasuol, Michele Focchi, Darwin G Caldwell, Claudio Semini, and Maurice Fallon · 2017
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An invariant-EKF VINS algorithm for improving consistency
Kanzhi Wu, Teng Zhang, Daobilige Su, Shoudong Huang, and Gamini Dissanayake · 2017
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Monocular visual–inertial state estimation with online initialization and camera–IMU extrinsic calibration
Zhenfei Yang and Shaojie Shen · 2017
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Convergence and consistency analysis for a 3-D invariant-EKF SLAM
Teng Zhang, Kanzhi Wu, Jingwei Song, Shoudong Huang, and Gamini Dissanayake · 2017
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Invariant Kalman filtering
Axel Barrau and Silvère Bonnabel · 2018
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