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In this paper, WALK-VIO, a novel visual-inertial odometry (VIO) withwalking-motion-adaptive leg kinematic constraints that change with body motionfor localization of quadruped robots, is proposed. Quadruped robots primarilyuse VIO because they require fast localization for control and path planning.However, since quadruped robots are mainly used outdoors, extraneous featuresextracted from the sky or ground cause tracking failures. In addition, thequadruped robots' walking motion cause wobbling, which lowers the localizationaccuracy due to the camera and inertial measurement unit (IMU). To overcomethese limitations, many researchers use VIO with leg kinematic constraints.However, since the quadruped robot's walking motion varies according to thecontroller, gait, quadruped robots' velocity, and so on, these factors shouldbe considered in the process of adding leg kinematic constraints. We proposeVIO that can be used regardless of walking motion by adjusting the legkinematic constraint factor. In order to evaluate WALK-VIO, we create andpublish datasets of quadruped robots that move with various types of walkingmotion in a simulation environment. In addition, we verified the validity ofWALK-VIO through comparison with current state-of-the-art algorithms.

WALK-VIO: Walking-motion-Adaptive Leg Kinematic Constraint Visual-Inertial Odometry for Quadruped Robots