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. 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

  2. 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

  3. 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

  4. Four Simple Proprioceptive Estimators for Legged Robots

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

  5. 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.

  6. 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

  7. 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

  8. 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

  9. 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

  10. 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

  11. 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

  12. 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

  13. 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.

  14. 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

  15. 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

  16. 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

  17. 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

  18. 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

  19. 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

  20. 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

  21. 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

  22. 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

  23. 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

  24. 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

  25. 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.

  26. 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

  27. 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

  28. 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

  29. 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

  30. 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