Legged Robots

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VILENS - Visual-Inertial Odometry for Legged Robots VILENS (Visual Inertial Legged Navigation System) is a factor-graph based odometry algorithm for legged robots that fuses leg odometry, vision, and IMU data. This algorithm was designed by David Wisth, Marco Camurri, and Maurice Fallon at the Oxford Robotics Institute (ORI). The papers describing this work are listed below. [...]