KILVO: Fusing Encoders, IMU, LiDAR and Vision for Humanoid Robot Odometry
rsasaki0109 · x · 2026-10-14
KILVO (Kinematic-Inertial-LiDAR-Visual Odometry) leverages sensors commonly equipped on humanoid robots — joint encoders, IMU, LiDAR, and camera — within an asynchronous-sequential hybrid ESIKF. Inertial data drives prediction, leg kinematics are processed asynchronously at high rate, and exteroceptive updates come from LiDAR/camera.
Related event: KILVO: multimodal odometry framework for humanoid robots released(2 posts)→
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