Guangjun Ou

Leg-KILO: Robust Kinematic-Inertial-Lidar Odometry for Dynamic Legged Robots

This letter presents a robust multi-sensor fusion framework, Leg-KILO (Kinematic-Inertial-Lidar Odometry). When lidar-based SLAM is applied to legged robots, high-dynamic motion (e.g., trot gait) introduces frequent foot impacts, leading to IMU degradation and lidar motion distortion. Direct use of