{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,20]],"date-time":"2026-03-20T17:33:47Z","timestamp":1774028027001,"version":"3.50.1"},"reference-count":30,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"6","license":[{"start":{"date-parts":[[2025,6,1]],"date-time":"2025-06-01T00:00:00Z","timestamp":1748736000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2025,6,1]],"date-time":"2025-06-01T00:00:00Z","timestamp":1748736000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,6,1]],"date-time":"2025-06-01T00:00:00Z","timestamp":1748736000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"ASI Pegasus Project and the Technology Innovation Program","award":["00427719"],"award-info":[{"award-number":["00427719"]}]},{"name":"Dexterous and Agile Humanoid Robots for Industrial Applications"},{"name":"Ministry of Trade Industry & Energy"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2025,6]]},"DOI":"10.1109\/lra.2025.3564711","type":"journal-article","created":{"date-parts":[[2025,4,28]],"date-time":"2025-04-28T17:34:55Z","timestamp":1745861695000},"page":"6296-6303","source":"Crossref","is-referenced-by-count":5,"title":["Multi-Sensor Fusion for Quadruped Robot State Estimation Using Invariant Filtering and Smoothing"],"prefix":"10.1109","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4478-9504","authenticated-orcid":false,"given":"Ylenia","family":"Nistic\u00f2","sequence":"first","affiliation":[{"name":"Dynamic Legged Systems (DLS), Istituto Italiano di Tecnologia (IIT), Genoa, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-9430-7830","authenticated-orcid":false,"given":"Hajun","family":"Kim","sequence":"additional","affiliation":[{"name":"Dynamic Robot Control & Design (DRCD) Laboratory, Korean Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6278-378X","authenticated-orcid":false,"given":"Jo\u00e3o Carlos Virgolino","family":"Soares","sequence":"additional","affiliation":[{"name":"Dynamic Legged Systems (DLS), Istituto Italiano di Tecnologia (IIT), Genoa, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3018-5993","authenticated-orcid":false,"given":"Geoff","family":"Fink","sequence":"additional","affiliation":[{"name":"Dynamic Legged Systems (DLS), Istituto Italiano di Tecnologia (IIT), Genoa, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6130-6589","authenticated-orcid":false,"given":"Hae-Won","family":"Park","sequence":"additional","affiliation":[{"name":"Dynamic Robot Control & Design (DRCD) Laboratory, Korean Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3034-4686","authenticated-orcid":false,"given":"Claudio","family":"Semini","sequence":"additional","affiliation":[{"name":"Dynamic Legged Systems (DLS), Istituto Italiano di Tecnologia (IIT), Genoa, Italy"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341176"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3064227"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3141876"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2012.viii.003"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6697236"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3093876"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2016.2594085"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919894385"},{"key":"ref9","article-title":"Legged robot state estimation using invariant Kalman filtering and learned contact events","author":"Lin","year":"2021"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/Humanoids58906.2024.10769911"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8594068"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3328202"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2020.00068"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2025.3553047"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3150844"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3193788"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10160486"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3440730"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561172"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TSP.2022.3158588"},{"key":"ref21","article-title":"Legged robot state estimation with invariant extended Kalman filter using neural measurement network","author":"Youm","year":"2024"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10610160"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/IROS58592.2024.10802640"},{"key":"ref24","article-title":"DiTer++: Diverse terrain and multi-modal dataset for multi-robot SLAM in multi-session environments","author":"Kim","year":"2024"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561313"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2022.3176015"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3236571"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811755"},{"key":"ref29","article-title":"A micro lie theory for state estimation in robotics","author":"Sola","year":"2018"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570247"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/7083369\/10969146\/10977997.pdf?arnumber=10977997","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,5,13]],"date-time":"2025-05-13T06:15:37Z","timestamp":1747116937000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10977997\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,6]]},"references-count":30,"journal-issue":{"issue":"6"},"URL":"https:\/\/doi.org\/10.1109\/lra.2025.3564711","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,6]]}}}