OptiState: ゲート付きネットワークとTransformerベースの視覚・カルマンフィルタを統合した脚式ロボットの状態推定
OptiState: State Estimation of Legged Robots using Gated Networks with Transformer-based Vision and Kalman Filtering
脚式ロボットの胴体状態を推定するため、カルマンフィルタ・最適化・学習を組み合わせたハイブリッド手法を提案し、四足歩行ロボットの実機実験でVIO SLAMベースライン比65%の精度向上を達成した。
著者: Alexander Schperberg, Yusuke Tanaka, Saviz Mowlavi, Feng Xu, Bharathan Balaji, Dennis Hong
分類: cs.RO, cs.LG, cs.SY, eess.SY
原文アブストラクト
State estimation for legged robots is challenging due to their highly dynamic motion and limitations imposed by sensor accuracy. By integrating Kalman filtering, optimization, and learning-based modalities, we propose a hybrid solution that combines proprioception and exteroceptive information for estimating the state of the robot's trunk. Leveraging joint encoder and IMU measurements, our Kalman filter is enhanced through a single-rigid body model that incorporates ground reaction force control outputs from convex Model Predictive Control optimization. The estimation is further refined through Gated Recurrent Units, which also considers semantic insights and robot height from a Vision Transformer autoencoder applied on depth images. This framework not only furnishes accurate robot state estimates, including uncertainty evaluations, but can minimize the nonlinear errors that arise from sensor measurements and model simplifications through learning. The proposed methodology is evaluated in hardware using a quadruped robot on various terrains, yielding a 65% improvement on the Root Mean Squared Error compared to our VIO SLAM baseline. Code example: https://github.com/AlexS28/OptiState
