Jian Kuang — accepted AI-conference papers

2025

DogLegs: Robust Proprioceptive State Estimation for Legged Robots Using Multiple Leg-Mounted IMUs

Yibin Wu, Jian Kuang, Shahram Khorshidi, Xiaoji Niu, Lasse Klingbeil, Maren Bennewitz +1

IROS 2025

Robust and accurate proprioceptive state estimation of the main body is crucial for legged robots to execute tasks in extreme environments where exteroceptive sensors, such as LiDARs and cameras, may become unreliable. In this paper, we propose DogLegs, a state estimation system for legged robots th

Cited by 4 Source ↗code ↗Scholar ↗

2023

Wheel-SLAM: Simultaneous Localization and Terrain Mapping Using One Wheel-Mounted IMU

Yibin Wu, Jian Kuang, Xiaoji Niu, Jens Behley, Lasse Klingbeil, Heiner Kuhlmann

RA-L 2023

A reliable pose estimator robust to environmental disturbances is desirable for mobile robots. To this end, inertial measurement units (IMUs) play an important role because they can perceive the full motion state of the vehicle independently. However, it suffers from accumulative error due to inhere

Cited by 14 Source ↗code ↗Scholar ↗