Abstract: This paper deals with the state estimation of linear time-invariant discrete systems with unknown inputs. The forward sequences of the output are treated as additional outputs. In this case, the rank condition for designing the unknown input estimator is relaxed. The gain for minimal estimation error variance is presented, and a numerical example is given to verify the proposed unknow...

State estimation and mapping based on Light Detection Ranging (LIDAR) are important for autonomous systems. Point cloud registration is a crucial module affecting the accuracy real-time performance of LIDAR simultaneous localization (SLAM). In this paper, novel point feature selection LIDAR-inertial tightly coupled systems proposed. front-end, carried out after marking rod-shaped planar informa...

Wepropose a novel state estimator for legged robots, STEP, achieved through preintegrated foot velocity factor. In the factor, usual non-slip assumption is not adopted. Instead, end effector becomes observable by exploiting body speed obtained from stereo camera. other words, effector’s pose can be estimated. Another advantage of our approach that it eliminates necessity contact d...