Publikation
Robust Localization, Mapping, and Navigation for Quadruped Robots
Dyuman Aditya; Junning Huang; Nico Bohlinger; Piotr Kicki; Krzysztof Walas; Jan Peters; Matteo Luperto; Davide Tateo
In: Computing Research Repository eprint Journal (CoRR), Vol. abs/2505.02272, Pages 1-8, arXiv, 2025.
Zusammenfassung
Quadruped robots are currently a widespread
platform for robotics research, thanks to powerful Rein-
forcement Learning controllers and the availability of cheap
and robust commercial platforms. However, to broaden the
adoption of the technology in the real world, we require
robust navigation stacks relying only on low-cost sensors such
as depth cameras. This paper presents a first step towards
a robust localization, mapping, and navigation system for
low-cost quadruped robots. In pursuit of this objective we
combine contact-aided kinematic, visual-inertial odometry, and
depth-stabilized vision, enhancing stability and accuracy of the
system. Our results in simulation and two different real-world
quadruped platforms show that our system can generate an
accurate 2D map of the environment, robustly localize itself,
and navigate autonomously. Furthermore, we present in-depth
ablation studies of the important components of the system
and their impact on localization accuracy. Videos, code, and
additional experiments can be found on the project website.