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

STEP: State Estimator for Legged Robots Using a Preintegrated foot Velocity Factor