Related papers: Inertial Sensor Arrays, Maximum Likelihood, and Cr…
While quantum accelerometers sense with extremely low drift and low bias, their practical sensing capabilities face two limitations compared with classical accelerometers: a lower sample rate due to cold atom interrogation time, and a…
We present a comprehensive framework for fusing measurements from multiple and generally placed accelerometers and gyroscopes to perform inertial navigation. Using the angular acceleration provided by the accelerometer array, we show that…
Sensor selection is a useful method to help reduce data throughput, as well as computational, power, and hardware requirements, while still maintaining acceptable performance. Although minimizing the Cram\'er-Rao bound has been adopted…
This paper proposes a novel inertial-aided localization approach by fusing information from multiple inertial measurement units (IMUs) and exteroceptive sensors. IMU is a low-cost motion sensor which provides measurements on angular…
Atom interferometery is an exquisite measurement technique sensitive to inertial forces. However, it is commonly limited to a single sensitive axis, allowing high-precision multi-dimensional sensing only through subsequent or post-corrected…
In order to meet the theoretically achievable imaging performance, calibration of modern radio interferometers is a mandatory challenge, especially at low frequencies. In this perspective, we propose a novel parallel iterative…
This paper proposes a novel algorithm to determine the optimal placement of redundant inertial sensors such as accelerometers and gyroscopes (gyros) for increasing the sensing accuracy. In this paper, we have proposed a novel iterative…
This paper investigates jointly optimal array geometry and waveform designs for active sensing. Specifically, we focus on minimizing the Cram\'er-Rao lower bound (CRB) of the angle of a single target in white Gaussian noise. We first find…
Multiple rigidly attached Inertial Measurement Unit (IMU) sensors provide a richer flow of data compared to a single IMU. State-of-the-art methods follow a probabilistic model of IMU measurements based on the random nature of errors…
The fusion of visual and inertial measurements is becoming more and more popular in the robotics community since both sources of information complement well each other. However, in order to perform this fusion, the biases of the Inertial…
Work-related upper extremity musculoskeletal disorders (WRUED) are a major problem in modern societies as they affect the quality of life of workers and lead to absenteeism and productivity loss. According to studies performed in North…
Distributed estimation in the context of sensor networks is considered, where distributed agents are given a set of sensor measurements, and are tasked with estimating a target variable. A subset of sensors are assumed to be faulty. The…
The quantum Cram\'er-Rao bound is a cornerstone of modern quantum metrology, as it provides the ultimate precision in parameter estimation. In the multiparameter scenario, this bound becomes a matrix inequality, which can be cast to a…
We consider the problem of fusing an arbitrary number of multiband, i.e., panchromatic, multispectral, or hyperspectral, images belonging to the same scene. We use the well-known forward observation and linear mixture models with Gaussian…
Magneto-inductive navigation is an inexpensive and easily deployable solution to many of today's navigation problems. By utilizing very low frequency magnetic fields, magneto-inductive technology circumvents the problems with attenuation…
Inference of three-dimensional motion from the fusion of inertial and visual sensory data has to contend with the preponderance of outliers in the latter. Robust filtering deals with the joint inference and classification task of selecting…
This paper presents a novel sequential estimator for the direction-of-arrival and polynomial coefficients of wideband polynomial-phase signals impinging on a sensor array. Addressing the computational challenges of Maximum-likelihood…
Arrays of ultrasonic sensors are capable of 3D imaging in air and an affordable supplement to other sensing modalities, such as radar, lidar, and camera, i.e. in heterogeneous sensing systems. However, manufacturing tolerances of…
Sensor fusion is a technique used to combine sensors with different noise characteristics into a super sensor that has superior noise performance. To achieve sensor fusion, complementary filters are used in current gravitational-wave…
This paper presents a range inertial localization algorithm for a 3D prior map. The proposed algorithm tightly couples scan-to-scan and scan-to-map point cloud registration factors along with IMU factors on a sliding window factor graph.…