Tingyang Xiao

GeoFlow-SLAM: A Robust Tightly-Coupled RGBD-Inertial and Legged Odometry Fusion SLAM for Dynamic Legged Robotics

This paper presents GeoFlow-SLAM, a robust and effective Tightly-Coupled RGBD-Inertial and Legged Odometry Fusion SLAM for legged robotics undergoing aggressive and high-frequency motions. By integrating geometric consistency, legged odometry constraints, and dual-stream optical flow (GeoFlow), our