2026
LLIO: Lidar-Kinematic-Inertial Odometry with Ground Contact Constraints for Legged Robots
ICRA 2026poster
This letter presents a robust multi-sensor fusion framework for state estimation in legged robots (LLIO) based on an iterated extended Kalman filter. To address the limitations of IMU priori estimation, which often leads to legged robot localization errors or failures, our method integrates the cont…