Robot State Estimation

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28 papers in the last four weeks, up 211% on the four weeks before. 0.3% of all new papers.

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  1. Chalito: An Extensible Library for Filtering-Based State Estimation in Quadruped Robots

    Jul 10, 2026Hilton Marques Souza Santana, João Carlos Virgolino Soares, Marco Antonio Meggiolaro +1Bayesian FilteringRobot State Estimation

    Department of Mechanical Engineering at the Pontifical Catholic University of Rio de Janeiro · Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia

  2. D-CLIPSE: Distributed Consensus-based Localization with Passive Listening on Shared State Exchange

    Jul 9, 2026Kyle Biron-Gricken, James Richard ForbesCooperative LocalizationRobot State Estimation

  3. Uncertainty-Aware Velocity Correction for Proprioceptive Vehicle Localization using Evidential Mamba

    Jul 6, 2026Abinav Kalyanasundaram, Karthikeyan Chandra Sekaran, Wolfgang Utschick +1GNSS-Denied LocalizationRobot State Estimation

    AImotion Bavaria, Technische Hochschule Ingolstadt, Germany · Technische Universität München, Germany

  4. WinTA-GIL: Windowed Trajectory Alignment for GNSS-IMU-LiDAR Heading Refinement in Intermittent Signal Environments

    Jul 6, 2026Kaixin Feng, Zhichao Wen, Zhaohong Liao +2Robot State EstimationInertial Navigation

    State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing (LIESMARS), Wuhan University, Wuhan, 430072, China · School of Remote Sensing and Information Engineering, Wuhan University, Wuhan, China · College of Engineering and Computer Science, University of Michigan-Dearborn, Dearborn, MI 48128, USA

  5. DIVO: Continuous-time DVL-Inertial-Visual Odometry for Unmanned Underwater Vehicles

    Jul 6, 2026Kyungmin Jung, Angad Bajwa, Junha Yoo +2Underwater RoboticsVisual-Inertial Odometry

    Department of Mechanical Engineering, McGill University, Montreal, QC, Canada

  6. Quaternion-Averaging-Based Adaptive Complementary Filter for Pedestrian Dead Reckoning With a Foot-Mounted AHRS

    Jul 5, 2026Shunsei Yamagishi, Lei JingRobot State EstimationRobot Localization

    Graduate School of Computer Science and Engineering, The University of Aizu, Aizuwakamatsu, Fukushima 965-8580, Japan

  7. Lost in Time? Continuous Symmetry and Identifiability in Aided Inertial Navigation with Unknown Measurement Delays

    Jul 4, 2026Jonathan Kelly, Phone Thiha Kyaw, Mattew GiamouParameter IdentifiabilityRobot State Estimation

    Space & Terrestrial Autonomous Robotic Systems (STARS) Laboratory at the University of Toronto Institute for Aerospace Studies (UTIAS), Toronto, Canada. · Autonomous Robotics & Convex Optimization (ARCO) Laboratory in the Department of Computing and Software, McMaster University, Hamilton, Canada.

  8. Technical Report: Asynchronous Distributed Trajectory Estimation of Multi-Robot Systems

    Jul 1, 2026Adam Pooley, Matthew HaleMulti-Robot SystemsDistributed Optimization

    School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA

  9. Wind and State Estimation on SE(3): Comparative Evaluation of EKF and UKF with Continuous and Discrete Quadrotor Models

    Jun 29, 2026Hiranya Udagedara, Adam Bigsby, Mahdis BishebanAerial RoboticsKalman Filtering

    Dept. of Mechanical and Manufacturing Engineering, University of Calgary, Calgary, Alberta, Canada

  10. Realtime Wind Estimation using Low Cost Quadrotor Uncrewed Aerial Vehicles

    Jun 29, 2026Hiranya Udagedara, Mahdis BishebanKalman FilteringUnscented Kalman Filtering

    Department of Mechanical and Manufacturing Engineering, University of Calgary, Calgary, Canada

  11. Analyzing Uncertainty in the Spatial Representation of the Kinematic Bicycle Model

    Jun 28, 2026Shafayat Abrar, M. Zaeem Baig, Shahir Ul Islam Anzal +1Uncertainty QuantificationCovariance Estimation

    Dhanani School of Science and Engineering Habib University, Karachi 75290

  12. Multi-Contact Force Estimation for Continuum Robots via Gaussian-Parameterized Factor Graphs

    Jun 28, 2026Aditya Prakash, Panagiotis TsiotrasRobot State Estimation

    School of Aerospace Engineering Georgia Institute of Technology Atlanta, GA, USA

  13. A Closed-Form 4-DoF Inter-Robot Pose Estimator using Bearing-only Measurements

    Jun 25, 2026Qixin De, Ao Zhuang, Yechen Zhang +2Cooperative LocalizationRobot State Estimation

    Shanghai Jiao Tong University, Shanghai 200240, China

  14. Invariant Kalman filtering for extended pose estimation in multi-IMU articulated rigid-body systems

    Jun 23, 2026Sven Goffin, Cédric Schwartz, Silvère Bonnabel +23D Human Pose EstimationHuman Pose Estimation

    Department of Electrical Engineering and Computer Science, University of Liège, Belgium · Department of Physical Activity and Rehabilitation Sciences, University of Liège, Belgium · Department of Mathematics and Systems, Mines Paris – PSL, France +1

  15. ISOPoT: Imaging Sonar Odometry by Point Tracking

    Jun 22, 2026Jaša Samec, Vid Rijavec, Marko Peljhan +4Point TrackingRelative Pose Estimation

    Faculty of Computer and Information Science, University of Ljubljana, Večna pot 113, 1000 Ljubljana, Slovenia · OZON Research Group, TIMTEC, Goriska cesta 6c, Vipava, 5271, Slovenia · MAT Systemics, University of California, Santa Barbara, 3309 Phelps Hall, Santa Barbara, 93106-6065, California, United States of America +1

  16. Invariant Stochastic Filtering on SE(3) for Inertial-Encoder State Estimation of Serial Rigid Manipulators

    Jun 21, 2026S. Yaqubi, J. MattilaRobot State EstimationInvariant EKF

    Department of Automation Technology and Mechanical Engineering, Tampere University, Korkeakoulunkatu 6, 33720 Tampere, Finland

  17. Online Learning of Robust Legged Odometry with Minimal Exteroceptive Supervision

    Jun 19, 2026Abhijeet M. Kulkarni, Yuze Du, Guoquan HuangRobot State EstimationMultimodal Sensor Fusion

    University of Delaware Newark, DE, USA

  18. Discrete Geometric Modeling and Extended State Estimation of Continuum Robots

    Jun 19, 2026Maximilian Herrmann, Leander Pfeiffer, Paul KotyczkaContinuum Robot ControlRobot State Estimation

    Technical University of Munich, TUM School of Engineering and Design, Munich Institute of Robotics and Machine Intelligence (MIRMI), Chair of Automatic Control.

  19. ARC: Adaptive Robust Joint State and Covariance Estimation

    Jun 18, 2026Alexandre Hadji-Thomas, Andrew Stirling, James R. ForbesCovariance EstimationRobot State Estimation

  20. Motor Angular Speed Preintegration for Multirotor UAV State Estimation

    Jun 18, 2026Matěj Petrlík, Filip Novák, Robert Pěnička +1UAV NavigationLiDAR Odometry

    Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, 166 36, Prague 6, Czech Republic

  21. Proprioceptive Invariant State Estimation for Humanoid Robots on Non-Inertial Ground

    Jun 17, 2026Falak Mandali, Zijian He, Yan GuRobot State EstimationInvariant EKF

    Purdue University, West Lafayette, IN 47907, USA.

  22. ADAPT: Analytical Disturbance-Aware Policy Training for Humanoid Locomotion

    Jun 15, 2026Bofan Lyu, Jindou Jia, Kuangji Zuo +7Robotic ControlHumanoid Robot Locomotion

    1MARS Lab, Nanyang Technological University

  23. A Smart-Scheduled Hybrid (SSH) EKF-FGO State Estimation

    Jun 14, 2026Eric Levy, Soosan BeheshtiFactor Graph OptimizationRobot State Estimation

    Electrical, Computer, and Biomedical Engineering Toronto Metropolitan University Toronto, ON, Canada

  24. GAIT: Legged Robot Proprioceptive State Estimation with Attention over Inertial-Leg Tokens

    Jun 12, 2026Young-Rang Seo, Hajun Kim, Sangmin Kim +2Legged RoboticsRobot State Estimation

    Korea Advanced Institute of Science and Technology, Yuseong-gu, Daejeon 34141, Republic of Korea.

  25. Resilient Navigation for Autonomous Farm Robots by Leveraging Jerk-Augmented Models with IMU-Only Disturbance Rejection

    Jun 9, 2026Batu Candan, Mohammed Atallah, Simone Servadio +1Kalman FilteringEmbodied Navigation

    Batu Candan, PhD Candidate, Iowa State University, Ames, IA 50011, USA · Mohammed Atallah, PhD Candidate, Iowa State University, Ames, IA 50011, USA · Dr. Simone Servadio, Assistant Professor, Iowa State University, Ames, IA 50011, USA +1

  26. Large-Scale Continuous Occupancy Mapping via Variance-Weighted Submap Joining

    Jun 9, 2026Zhuhua Bai, Yingyu Wang, Liang Zhao +1Simultaneous Localization and MappingRobot State Estimation

    Robotics Institute, University of Technology Sydney, Australia · School of Informatics, University of Edinburgh, UK

  27. Dual Quaternion-Based Unscented Kalman Filter with Visual Inertial Odometry for Navigation in GPS-Denied Environments

    Jun 8, 2026Mohamed Khalifa, Hashim A. HashimKalman FilteringInertial Odometry

    Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, Ontario, K1S-5B6, Canada

  28. Learning Contact Representation for Leg Odometry

    Jun 3, 2026Emre Girgin, Cagri KilicLegged RoboticsSelf-Supervised Learning

    Department of Aerospace Engineering · Embry Riddle Aeronautical University · United States

  29. Multi-Robot Bearing-only Pose Estimation via Angle Rigidity

    Jun 2, 2026J. Francisco Presenza, Leonardo J. Colombo, Ignacio Mas +1Relative Pose EstimationMulti-Robot Systems

    Institute of Engineering Technology and Sciences “Hilario Fern´andez Long” (CONICET-UBA) - Av. Paseo Col´on 850, C1063ACV, Buenos Aires, Argentina · Centre for Automation and Robotics (CSIC-UPM) - Ctra. M300 Campo Real, Km 0.200, Arganda del Rey, 28500, Madrid, Spain · Artificial Intelligence and Robotics Laboratory, Universidad de San Andr´es and CONICET - Vito Dumas 284, B1644BID, Victoria, Argentina

  30. FW-NKF: Frequency-Weighted Neural Kalman Filters

    Jun 1, 2026Adnan Harun Dogan, Berken Utku Demirel, Christian HolzKalman FilteringRobot State Estimation

    Department of Computer Science, ETH Zürich, Switzerland

  31. IMU Propagation as Preintegration

    May 27, 2026Jianzhu HuaiRobot State EstimationInertial Navigation

    State Key Lab of Info Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, Hubei China

  32. FusionCore: A 23-State Unscented Kalman Filter for IMU, Wheel Encoder, GPS, and Visual SLAM Fusion in ROS 2

    May 24, 2026Manan KharwarKalman FilteringUnscented Kalman Filtering

    Independent Researcher, Hamilton, ON, Canada

  33. Enhanced INS/GNSS State Estimation using GNSS-Based Acceleration Measurements

    May 23, 2026Gal Versano, Itzik KleinRobot State EstimationInertial Navigation

    Autonomous Navigation and Sensor Fusion Lab, Hatter Department of Marine Technologies, Charney School of Marine Sciences, University of Haifa, Israel

  34. Four Simple Proprioceptive Estimators for Legged Robots

    May 21, 2026Frank Dellaert, Chiyun Noh, Varun Agrawal +1Robot State Estimation

  35. OCELOT: Odometry and Contact Estimation for Legged Robots

    May 21, 2026Emre Girgin, Cagri KilicLegged RoboticsRobot State Estimation

    Department of Aerospace Engineering, Embry-Riddle Aeronautical University, Daytona Beach, FL 32114, USA.

  36. Enhancing Graph-Based SLAM in GNSS-Denied environments by leveraging leg odometry

    May 19, 2026Léon Perruchot-Triboulet, Luc Jaulin, Kai XiaoSimultaneous Localization and MappingFactor Graph Optimization

    Lab-STICC, ENSTA Campus Brest, France · LinXai Tech. Co., China

  37. Minimalist Visual Inertial Odometry

    May 19, 2026Francesco Pasti, Jeremy Klotz, Nicola Bellotto +1Inertial OdometryMobile Robotics

    Department of Information Engineering, University of Padua, Padua, Italy · Computer Science Department, Columbia University, New York, NY, USA

  38. FUSE: A Framework for Unified State Estimation in Vehicular and Robotic SLAM Systems

    May 18, 2026Wei Wu, Honglin Chen, Wenhan Cao +7Simultaneous Localization and MappingRobot State Estimation

    State Key Lab of Intelligent Green Vehicle and Mobility, Tsinghua University, Beijing 100084, China · SunRisingAI Ltd., Beijing 100082, China · China Intelligent and Connected Vehicles (Beijing) Research Institute Co., Ltd., Beijing 100176, China +1

  39. PRIME: Physically-consistent Robotic Inertial and Motion Estimation for Legged and Humanoid Robots

    May 17, 2026Jiarong Kang, Kunzhao Ren, Tao Pang +1Robot Dynamics IdentificationRobot Locomotion

    University of Wisconsin-Madison · Shanghai Innovation Institute

  40. CoCo-InEKF: State Estimation with Learned Contact Covariances in Dynamic, Contact-Rich Scenarios

    May 14, 2026Michael Baumgartner, David Müller, Agon Serifi +4Legged RoboticsRobot State Estimation

    ETH Zurich, Switzerland · Disney Research, Switzerland

  41. Galilean State Estimation for Inertial Navigation Systems with Unknown Time Delay

    May 13, 2026Giulio Delama, Martin Scheiber, Yixiao Ge +3UAV NavigationRobot State Estimation

    Control of Networked Systems Group University of Klagenfurt 9020 Klagenfurt, Austria · Systems Theory and Robotics Group Australian National University ACT, 2601, Australia · I3S, CNRS, Universit´e Cˆote d’Azur and Institut Universitaire de France 06900 Sophia Antipolis, France

  42. Relative Pose-Velocity Estimation Using Dual IMU Measurements and Relative Position Sensing

    May 13, 2026Alessandro Melis, Tarek Bouazza, Soulaimane Berkane +1Relative Pose EstimationRobot State Estimation

    ∗I3S-CNRS, Nice-Sophia Antipolis, France · ∗∗Department of Computer Science and Engineering, Universit´e du Qu´ebec en Outaouais (UQO), QC J8X 3X7, Canada · ∗∗∗Institut Universitaire de France, Nice-Sophia Antipolis, France

  43. DynoJEPP: Joint Estimation, Prediction and Planning in Dynamic Environments

    May 13, 2026Mikolaj Kliniewski, Jesse Morris, Yiduo Wang +2Factor Graph OptimizationSafe Robot Navigation

    Australian Centre For Robotics (ACFR), School of Aerospace, Mechanical and Mechatronic Engineering (AMME), University of Sydney, 2006 Sydney, Australia.

  44. Few-Shot Physics-Informed Neural Network for Shape Reconstruction of Concentric-Tube Robots

    May 12, 2026Navid Feizi, Filipe C. Pedrosa, Rajni V. Patel +1RoboticsPhysics-Informed ML

    Canadian Surgical Technologies and Advanced Robotics (CSTAR), London Health Sciences Centre (LHSC), and with the Department of Electrical and Computer Engineering, Western University, London, Ontario, Canada

  45. Support-Safe Variational Hybrid Filtering for Contact-Mode and Sparse-Law Recovery

    May 12, 2026Marios Papamichalis, Regina RuaneLatent Dynamics ModelingSystem Identification

    Human Nature Lab, Yale University, New Haven, CT 06511 · Department of Statistics and Data Science, The Wharton School, University of Pennsylvania, 3733 Spruce Street, Philadelphia, PA 19104-6340

  46. A Proprioceptive-Only Benchmark for Quadruped State Estimation: ATE, RPE, and Runtime Trade-offs Between Filters and Smoothers

    May 12, 2026Ylenia Nisticò, João Carlos Virgolino Soares, Joan Solà +1State TrackingRobot State Estimation

    Dynamic Legged Systems (DLS) Lab, Istituto Italiano di Tecnologia, 16163 Genova, Italy · Institut de Rob`otica i Inform`atica Industrial - CSIC, 08028 Barcelona, Spain

  47. 3D-Belief: Embodied Belief Inference via Generative 3D World Modeling

    May 12, 2026Yifan Yin, Zehao Wen, Suyu Ye +10World Models for Robotics3D Scene Representation

    Johns Hopkins University · Lambda · University of Cambridge

  48. Safety-Critical LiDAR-Inertial Odometry with On-Manifold Deterministic Protection Level

    May 10, 2026Yueqi Zhu, Yan Pan, Chufan Rui +3LiDAR OdometryRobot State Estimation

    School of Automation, Southeast University and Key Laboratory of Measurement and Control of CSE, Ministry of Education, Nanjing, China

  49. Smoothing Out the Edges: Continuous-Time Estimation with Gaussian Process Motion Priors on Factor Graphs

    May 9, 2026Connor Holmes, Sven Lilge, Zi Cong Guo +2Gaussian ProcessesRobot State Estimation

    University of Toronto · Georgia Institute of Technology

  50. Sensorless State Estimation and Control for Agile Cable-Suspended Payload Transport by Quadrotors

    May 5, 2026Ana Maria Nascimento, Augusto Sales, Antonio Marcus Lima +1Aerial RoboticsNonlinear MPC

  51. Natural Gradient Bayesian Filtering: Geometry-Aware Filter for Dynamical Systems

    May 4, 2026Chang Liu, Wenhan Cao, Zeju Sun +8Bayesian FilteringRobot State Estimation

    School of Advanced Manufacturing and Robotics, Peking University, China. · School of Vehicle and Mobility, Tsinghua University, China. · Beijing Institute of Mathematical Sciences and Applications (BIMSA), China. +3

  52. Observability Conditions and Filter Design for Visual Pose Estimation via Dual Quaternions

    May 3, 2026Nicholas B. Andrews, Kristi A. MorgansenDynamical SystemsKalman Filtering

    Department of Aeronautics and Astronautics, University of Washington, Seattle, WA 98195 USA

  53. Neural Aided Kalman Filtering for UAV State Estimation in Degraded Sensing Environments

    Apr 30, 2026Akhil Gupta, Erhan GuvenBayesian Neural NetworksKalman Filtering

    Whiting School of Engineering EP Program, Johns Hopkins University, Baltimore, Maryland, USA

  54. A Survey of Legged Robotics in Non-Inertial Environments: Past, Present, and Future

    Apr 22, 2026I-Chia Chang, Xinyan Huang, Tzu-Yuan Lin +5Robotic ControlLegged Robotics

    School of Mechanical Engineering, Purdue University, West Lafayette, IN 47906 USA · Department of Mechanical and Aerospace Engineering, Rutgers University, Piscataway, NJ 08854 USA · Department of Robotics, University of Michigan, Ann Arbor, MI 48109 USA

  55. SL(C)AMma: Simultaneous Localisation, (Calibration) and Mapping With a Magnetometer Array

    Apr 21, 2026Thomas Edridge, Manon KokSimultaneous Localization and MappingRobot State Estimation

    1DCSC, Delft University of Technology, the Netherlands.

  56. Relative State Estimation using Event-Based Propeller Sensing

    Apr 20, 2026Ravi Kumar Thakur, Luis Granados Segura, Jan Klivan +4Event-Based VisionMulti-Robot Systems

    Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Karlovo Namesti 13, 121 35 Prague 2, Czechia

  57. Greedy Kalman-Swarm: Improving State Estimation in Robot Swarms in Harsh Environments

    Apr 18, 2026Phunyapa Suksomboon, Paulo GarciaKalman FilteringMulti-Robot Systems

    International School of Engineering, Chulalongkorn University, Bangkok, Thailand

  58. Factor Graph-Based Shape Estimation for Continuum Robots via Magnus Expansion

    Apr 17, 2026Lorenzo Ticozzi, Patricio A. Vela, Panagiotis TsiotrasFactor Graph OptimizationRobotics

    School of Aerospace Engineering · School of Electrical and Computer Engineering

  59. Iterated Invariant EKF for Quadruped Robot Odometry

    Apr 16, 2026Hilton Marques Souza Santana, João Carlos Virgolino Soares, Sven Goffin +4Robot State EstimationInvariant EKF

    Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia, Genoa, Italy. · Department of Mechanical Engineering, Pontifical Catholic University of Rio de Janeiro, Brazil. · Department of Electrical Engineering and Computer Science, University of Liège, Belgium. +1

  60. Complementary Filtering on SO(3) for Attitude Estimation with Scalar Measurements

    Apr 9, 2026Alessandro Melis, Soulaimane Berkane, Robert Mahony +1Robot State Estimation

    I3S, CNRS, Universit´e Cˆote d’Azur, Sophia Antipolis, France · Department of Computer Science and Engineering, Universit´e du Qu´ebec en Outaouais (UQO), QC J8X 3X7, Canada · Systems Theory and Robotics Group, School of Engineering, Australian National University, Australia +1