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