Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors - Hartley, Ross; Mangelson, Josh; Gan, Lu; Ghaffari Jadidi, Maani; Walls, Jeffrey M.; Eustice, Ryan M.; Grizzle, Jessy W. (2018 IEEE International Conference on Robotics and Automation (ICRA), Robotics and Automation (ICRA), 2018 IEEE International Conference on, 2018)