Related papers: Vision-Based Navigation I: A navigation filter for…
Navigation using only one marker, which contains four artificial features, is a challenging task since camera pose estimation using only four coplanar points suffers from the rotational ambiguity problem in a real-world application. This…
Inertial-based navigation refers to the navigation methods or systems that have inertial information or sensors as the core part and integrate a spectrum of other kinds of sensors for enhanced performance. Through a series of papers, the…
Visual-inertial navigation systems are powerful in their ability to accurately estimate localization of mobile systems within complex environments that preclude the use of global navigation satellite systems. However, these navigation…
We present a system for keyframe-based dense camera tracking and depth map estimation that is entirely learned. For tracking, we estimate small pose increments between the current camera image and a synthetic viewpoint. This significantly…
While LiDAR and cameras are becoming ubiquitous for unmanned aerial vehicles (UAVs) but can be ineffective in challenging environments, 4D millimeter-wave (MMW) radars that can provide robust 3D ranging and Doppler velocity measurements are…
The paper focuses on the problem of vision-based obstacle detection and tracking for unmanned aerial vehicle navigation. A real-time object localization and tracking strategy from monocular image sequences is developed by effectively…
Visual odometry and Simultaneous Localization And Mapping (SLAM) has been studied as one of the most important tasks in the areas of computer vision and robotics, to contribute to autonomous navigation and augmented reality systems. In case…
Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailable. In many visual navigation systems, localization is…
Inertial navigation computation is to acquire the attitude, velocity and position information of a moving body by integrating inertial measurements from gyroscopes and accelerometers. Over half a century has witnessed great efforts in…
We first define appropriate state representation and action space, and then design an adjustment mechanism based on the actions selected by the intelligent agent. The adjustment mechanism outputs the next state and reward value of the…
This paper investigates the orientation, position, and linear velocity estimation problem of a rigid-body moving in three-dimensional (3D) space with six degrees-of-freedom (6 DoF). The highly nonlinear navigation kinematics are formulated…
Human motion capture is frequently used to study rehabilitation and clinical problems, as well as to provide realistic animation for the entertainment industry. IMU-based systems, as well as Marker-based motion tracking systems, are the…
Inertial measurement unit (IMU) and odometer have been commonly-used sensors for autonomous land navigation in the global positioning system (GPS)-denied scenarios. This paper systematically proposes a versatile strategy for self-contained…
Indoor tracking and pose estimation, i.e., determining the position and orientation of a moving target, are increasingly important due to their numerous applications. While Inertial Navigation Systems (INS) provide high update rates, their…
This paper proposes a unified mathematical framework for inertial measurement unit (IMU) preintegration in inertial-aided navigation system in different frames under different motion condition. The navigation state is precisely discretized…
This work proposes algorithms for reconstruction of closed-loop pedestrian trajectories based on two foot-mounted inertial measurement units (IMU). The first proposed algorithm allows calculation of a trajectory using measurements from only…
In this paper, we propose a visual-inertial framework able to efficiently estimate the camera poses of a non-rigid trinocular baseline for long-range depth estimation on-board a fast moving aerial platform. The estimation of the…
This paper presents a novel real-time tracking system capable of improving body pose estimation algorithms in distributed camera networks. The first stage of our approach introduces a linear Kalman filter operating at the body joints level,…
Modern autonomous navigation for unmanned ground vehicles relies on different estimators to fuse inertial sensors and GNSS measurements. However, the constant noise covariance matrices often struggle to account for dynamic real-world…
Full-body motion estimation of a human through wearable sensing technologies is challenging in the absence of position sensors. This paper contributes to the development of a model-based whole-body kinematics estimation algorithm using…