Hai-Ruo Wei

Learning Wheel Motion Uncertainty for Degeneracy-Aware LiDAR-Inertial Odometry on Quadrupedal Wheel-Legged Robots

Wheel kinematics can support odometry for quadrupedal wheel-legged robots when LiDAR geometry provides weak motion constraints. However, slip and contact loss make rolling predictions unreliable, and contact state alone cannot determine their reliability across motion directions. We propose a tightly coupled LiDAR-iner...