A Proprioceptive-Only Benchmark for Quadruped State Estimation: ATE, RPE, and Runtime Trade-offs Between Filters and Smoothers
arXiv:2605.11674v1 Announce Type: new
Abstract: We compare three state-of-the-art proprioceptive state estimators for quadruped robots: MUSE [1], the Invariant Extended Kalman Filter (IEKF) [2], and the Invariant Smoother (IS) [3], on the CYN-1 sequen…