Holistic Fusion: setup-agnostic robot state estimation via one factor graph, in T-RO 2026
rsasaki0109 · x · 2026-10-15
Holistic Fusion (HF), accepted to IEEE Transactions on Robotics 2026, fuses IMU, absolute, landmark, and local measurements from an arbitrary number of sensors and reference frames into a single factor graph, providing task- and setup-agnostic robot localization and state estimation. The figure shows how world, map, GNSS, LiDAR, and IMU frames plus random-walk odometry drift are organized in the graph, demonstrated on a quadruped platform.
Related event: ETH and NASA JPL open-source Holistic Fusion for robot localization(2 posts)→
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