{"id":"https://openalex.org/W7165204195","doi":"https://doi.org/10.48550/arxiv.2606.19067","title":"Sensor Configuration Matters: A Systematic Evaluation of Multimodal SLAM on Quadruped Robots","display_name":"Sensor Configuration Matters: A Systematic Evaluation of Multimodal SLAM on Quadruped Robots","publication_year":2026,"publication_date":"2026-06-17","ids":{"openalex":"https://openalex.org/W7165204195","doi":"https://doi.org/10.48550/arxiv.2606.19067"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.19067","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.19067","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.19067","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5098730110","display_name":"Roberto Corlito","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Corlito, Roberto","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138855274","display_name":"Fabian Schmidt","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Schmidt, Fabian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092202597","display_name":"Nils Seibert","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Seibert, Nils","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138830119","display_name":"Markus Enzweiler","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Enzweiler, Markus","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138918327","display_name":"Abhinav Valada","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Valada, Abhinav","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5072884786","display_name":"Arne Roennau","orcid":"https://orcid.org/0000-0002-6090-607X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Roennau, Arne","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.5037999749183655,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.5037999749183655,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.3610000014305115,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12740","display_name":"Gait Recognition and Analysis","score":0.02850000001490116,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.684499979019165},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6385999917984009},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.548799991607666},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.45260000228881836},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4228000044822693},{"id":"https://openalex.org/keywords/rolling-shutter","display_name":"Rolling shutter","score":0.4156999886035919},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.3944999873638153},{"id":"https://openalex.org/keywords/shutter","display_name":"Shutter","score":0.38519999384880066}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.684499979019165},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6385999917984009},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5769000053405762},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5590999722480774},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.548799991607666},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.546999990940094},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.45260000228881836},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4228000044822693},{"id":"https://openalex.org/C2776166537","wikidata":"https://www.wikidata.org/wiki/Q2164193","display_name":"Rolling shutter","level":3,"score":0.4156999886035919},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.40139999985694885},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.3944999873638153},{"id":"https://openalex.org/C2776871301","wikidata":"https://www.wikidata.org/wiki/Q691823","display_name":"Shutter","level":2,"score":0.38519999384880066},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.37059998512268066},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.3271999955177307},{"id":"https://openalex.org/C110698143","wikidata":"https://www.wikidata.org/wiki/Q651389","display_name":"Patrolling","level":2,"score":0.3190000057220459},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.3176000118255615},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.302700012922287},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30250000953674316},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2946999967098236},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2935999929904938},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.2906000018119812},{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.2824999988079071},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.2702000141143799},{"id":"https://openalex.org/C2777811059","wikidata":"https://www.wikidata.org/wiki/Q1253257","display_name":"Urban search and rescue","level":4,"score":0.26910001039505005},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.25290000438690186}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.19067","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.19067","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.19067","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.19067","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Autonomous":[0],"navigation":[1],"of":[2,44,77,101,165],"quadrupedal":[3],"robots":[4],"in":[5],"diverse":[6],"environments":[7],"fundamentally":[8],"relies":[9],"on":[10,90,132,189],"resilient":[11],"Simultaneous":[12],"Localization":[13],"and":[14,25,59,81,97,106,118,140],"Mapping":[15],"(SLAM).":[16],"While":[17],"visual-inertial":[18],"SLAM":[19,83],"has":[20,129],"matured":[21],"across":[22,113],"wheeled,":[23],"handheld,":[24],"aerial":[26],"platforms,":[27],"a":[28,74],"critical":[29],"evaluation":[30,76],"gap":[31],"remains":[32],"regarding":[33],"how":[34],"hardware-level":[35],"sensor":[36,108,183],"configurations":[37,136],"affect":[38],"performance":[39,164],"under":[40,169],"the":[41,86,99,163],"aggressive":[42],"dynamics":[43],"legged":[45,171,191],"locomotion.":[46,172],"Quadrupeds":[47],"introduce":[48],"distinct":[49],"embodiment-induced":[50],"sensory":[51],"challenges,":[52],"including":[53],"foot-impact":[54],"shocks,":[55],"high-frequency":[56],"mechanical":[57],"vibrations,":[58],"rapid":[60],"angular":[61],"rotations,":[62],"which":[63],"degrade":[64,162],"standard":[65,158],"perception":[66,188],"pipelines.":[67],"To":[68],"address":[69],"this":[70],"gap,":[71],"we":[72],"present":[73],"systematic":[75],"state-of-the-art":[78],"visual,":[79],"visual-inertial,":[80],"LiDAR-visual-inertial":[82],"methods":[84],"using":[85],"GrandTour":[87],"dataset":[88],"recorded":[89],"an":[91],"ANYmal":[92],"D":[93],"quadruped.":[94],"We":[95],"isolate":[96],"quantify":[98],"impacts":[100],"camera":[102],"modalities,":[103,142],"shutter":[104,144,154],"techniques,":[105],"inertial":[107,159],"tiers,":[109],"analyzing":[110],"their":[111],"trade-offs":[112],"localization":[114],"accuracy,":[115],"algorithmic":[116],"robustness,":[117],"computational":[119],"resource":[120],"utilization.":[121],"Our":[122],"empirical":[123],"findings":[124],"demonstrate":[125],"that":[126],"hardware":[127],"selection":[128],"substantial":[130],"influence":[131],"system":[133],"resilience:":[134],"stereo":[135],"consistently":[137],"outperform":[138],"monocular":[139],"RGB-D":[141],"global":[143],"cameras":[145],"significantly":[146],"mitigate":[147],"motion-induced":[148],"tracking":[149],"failures":[150],"compared":[151],"to":[152,185],"rolling":[153],"cameras,":[155],"and,":[156],"crucially,":[157],"integration":[160],"can":[161],"primarily":[166],"vision-based":[167],"frameworks":[168],"harsh":[170],"These":[173],"insights":[174],"additionally":[175],"offer":[176],"concrete":[177],"design":[178],"guidelines":[179],"for":[180],"tailoring":[181],"custom":[182],"payloads":[184],"achieve":[186],"dependable":[187],"agile":[190],"systems.":[192]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-19T00:00:00"}
