Robust Localization, Mapping, and Navigation for Quadruped Robots
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arXiv
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| Main Authors: | , , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866909625829294080 |
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| author | Aditya, Dyuman Huang, Junning Bohlinger, Nico Kicki, Piotr Walas, Krzysztof Peters, Jan Luperto, Matteo Tateo, Davide |
| author_facet | Aditya, Dyuman Huang, Junning Bohlinger, Nico Kicki, Piotr Walas, Krzysztof Peters, Jan Luperto, Matteo Tateo, Davide |
| contents | Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement 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: https://sites.google.com/view/low-cost-quadruped-slam |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2505_02272 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Robust Localization, Mapping, and Navigation for Quadruped Robots Aditya, Dyuman Huang, Junning Bohlinger, Nico Kicki, Piotr Walas, Krzysztof Peters, Jan Luperto, Matteo Tateo, Davide Robotics Artificial Intelligence Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement 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: https://sites.google.com/view/low-cost-quadruped-slam |
| title | Robust Localization, Mapping, and Navigation for Quadruped Robots |
| topic | Robotics Artificial Intelligence |
| url | https://arxiv.org/abs/2505.02272 |