Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation · HackerPapers discussionshttps://hackerpaper.kaipfister.de/p/1805.10410/Collected HN comments and submissions linking this paper.enMon, 02 Nov 2026 11:16:22 GMTContact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation — mentioned by goldbattlehttps://news.ycombinator.com/item?id=28293673urn:hackerpapers:mention:1805.10410:28293673Tue, 24 Aug 2021 19:26:30 GMT<p>My understanding is is that group invariance is just another perspective to look at the original non-linear system transformations as compared to the more traditional &quot;on-manifold&quot;. Really it seems like an easier way to derive a system which the observable properties of the system are well defined as compared to worrying about ensuring observability (and unobservability) properties hold through the non-linear linearization process. There are quite a few groups that use &quot;invariant filters&quot; in robotics (eg [1]), but I always wonder if this could not be addressed through more traditional means…</p><p><a href="https://hackerpaper.kaipfister.de/p/1805.10410/">Paper and discussion history</a>. A mention is not an endorsement.</p>cs.RO