We propose a novel state estimator for legged robots, STEP, achieved through a novel preintegrated foot velocity factor. In the preintegrated foot velocity factor, the usual non-slip assumption is not adopted. Instead, the end effector velocity becomes observable by exploiting the body speed obtained from a stereo camera. In other words, the preintegrated end effector's pose can be estimated. Another advantage of our approach is that it eliminates the necessity for a contact detection step, unlike the typical approaches. The proposed method has also been validated in harsh-environment simulations and real-world experiments containing uneven or slippery terrains.

翻译：我们建议为腿形机器人提供一个新的国家测算器,STEP,这是通过一个新的前集成脚速度系数实现的。在前集成脚速度系数中,没有采用通常的非滑动假设。相反,通过利用从立体摄像机获得的体速,终端效应速度可以观察到。换句话说,可以估计出预集成尾效应的姿势。我们方法的另一个优点是,它消除了接触探测步骤的必要性,而不像典型方法那样。提议的方法在严酷的环境模拟和包含不均或滑滑的地形的现实世界实验中也得到了验证。