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The system fuses a stereo-camera sensor, inertial measurement unit, leg odometry, and optional intermittent GPS position updates with an extended Kalman filter to ensure robust, low-latency performance. To maintain a six-degree-of-freedom local positioning accuracy alongside the global positioning knowledge, two reference frames are used; a local reference frame and a global reference frame, with the former benefiting obstacle detection and mapping and the latter for operator-specified and autonomous way-point following. Extensive experimental results obtained from multiple field tests are presented to illustrate the performance and robustness of the system over hours of continuous runs and hundreds of kilometers of distance traveled in a wide variety of terrains and conditions.<\/jats:p>","DOI":"10.1177\/0278364915587333","type":"journal-article","created":{"date-parts":[[2015,7,24]],"date-time":"2015-07-24T22:05:54Z","timestamp":1437775554000},"page":"631-653","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":37,"title":["Real-time pose estimation of a dynamic quadruped in GPS-denied environments for 24-hour operation"],"prefix":"10.1177","volume":"35","author":[{"given":"Jeremy","family":"Ma","sequence":"first","affiliation":[{"name":"Jet Propulsion Laboratory, California Institute of Technology, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Max","family":"Bajracharya","sequence":"additional","affiliation":[{"name":"Jet Propulsion Laboratory, California Institute of Technology, USA"},{"name":"Currently with Google, Mountain View, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sara","family":"Susca","sequence":"additional","affiliation":[{"name":"Jet Propulsion Laboratory, California Institute of Technology, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Larry","family":"Matthies","sequence":"additional","affiliation":[{"name":"Jet Propulsion Laboratory, California Institute of Technology, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Matt","family":"Malchano","sequence":"additional","affiliation":[{"name":"Boston Dynamics, Waltham, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2015,7,24]]},"reference":[{"key":"bibr1-0278364915587333","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.1987.4767965"},{"key":"bibr2-0278364915587333","volume-title":"Feedback Systems: An Introduction for Scientists and Engineers","volume":"2","author":"Astrom KJ","year":"2012"},{"key":"bibr3-0278364915587333","doi-asserted-by":"crossref","first-page":"17","DOI":"10.7551\/mitpress\/9816.003.0008","volume":"17","author":"Bloesch M","year":"2013","journal-title":"Robotics"},{"key":"bibr4-0278364915587333","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6094484"},{"key":"bibr5-0278364915587333","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913499193"},{"key":"bibr6-0278364915587333","first-page":"11","volume":"1588","author":"Correll K","year":"2005","journal-title":"Conference on IEEE"},{"key":"bibr7-0278364915587333","unstructured":"Gavrilets V (2003) Autonomous aerobatic maneuvering of miniature helicopters: Modeling and control. 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