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simmediumlocomotionmetric · varies
GaRLILEO: Gravity-aligned Radar-Leg-Inertial Enhanced Odometry
Description
Deployment of legged robots for navigating challenging terrains (e.g., stairs, slopes, and unstructured environments) has gained increasing preference over wheel-based platforms. In such scenarios, accurate odometry estimation is a preliminary requirement for stable locomotion, localization, and mapping. Traditional proprioceptive approaches, which rely on leg kinematics sensor modalities and inertial sensing, suffer from irrepressible vertical drift caused by frequent contact impacts, foot slip