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Comparison of state estimation between EKF and STMCKF of a quadruped robot. (a) Comparison of north position estimation between EKF and STMCKF; (b) Comparison of east position estimation between EKF and STMCKF; (c) Comparison of forward velocity estimation between EKF and STMCKF; (d) Comparison of forward velocity estimation between EKF and STMCKF.
