# VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots

> Research article (IEEE Transactions on Robotics, 2022) · cited 159× · AI/ML

**Wikidata**: [openalex:W3178901079](https://www.wikidata.org/wiki/openalex:W3178901079)  
**Source**: https://4ort.xyz/entity/vilens-visual-inertial-lidar-and-leg-odometry-for-all-terrain-legged-robots