KILVO: robust multimodal odometry for humanoid robots fusing encoders, IMU, LiDAR and vision
rsasaki0109 · x · 2026-10-14
KILVO (Kinematic-Inertial-LiDAR-Visual Odometry) is a robust multimodal odometry framework for humanoid robots that fully exploits the sensors they commonly carry: joint encoders, IMU, LiDAR, and camera. It uses an asynchronous-sequential hybrid ESIKF — inertial data for prediction, leg kinematics processed asynchronously at 1kHz, exteroception updated sequentially at 10Hz — plus a compact contact estimation module with bipedal contact detection, a hash-indexed voxel map, and multimodal adaptation (KILVO/KI/LIV/LI modes) to survive sensor failures and degradation.
Related event: KILVO: multimodal odometry framework for humanoid robots released(2 posts)→
More from Embodied
- Physical Intelligence researcher: robotics is in a 'Cambrian Explosion' — svlevine · 2026-10-14
- Robot demo nails 20/20 picks: nuts, gears and connectors in one run — KyleMorgenstein · 2026-10-14
- General Instinct partners with Physical Intelligence to deploy frontier models on real robots — svlevine · 2026-10-14
- Physical Intelligence opens Pi robotics model API beta, already in 150 factories — svlevine · 2026-10-14
- The 'sophisticated device' in spy case is a $14.90 Seeed Studio ESP32 hobby kit — wavefnx · 2026-10-14
- Robotics firm Node is hiring a full-time robot dog walker in Palo Alto — ashleyyjoelle · 2026-10-14