State Estimation for Legged Robots Using Contact-Centric Leg Odometry. - Shuo Yang; Hans Kumar; Zhaoyuan Gu; Xiangyuan Zhang; Matthew J. Travers; Howie Choset (CoRR, 2019)

Periodic SLAM: Using Cyclic Constraints to Improve the Performance of Visual-Inertial SLAM on Legged Robots. - Hans Kumar; J. Joe Payne; Matthew J. Travers; Aaron M. Johnson 001; Howie Choset (ICRA, 2022)