Related papers: Inertial Odometry on Handheld Smartphones
State estimation is a crucial component for the successful implementation of robotic systems, relying on sensors such as cameras, LiDAR, and IMUs. However, in real-world scenarios, the performance of these sensors is degraded by challenging…
Event-based cameras are new type vision sensors whose pixels work independently and respond asynchronously to brightness change with microsecond resolution, instead of providing standard intensity frames. Compared with traditional cameras,…
The study focuses on the experiment of using three different smartphones to collect acceleration data from vibration for the road roughness detection. The Android operating system is used in the application. The study takes place on…
Inertial Navigation Systems (INS) are algorithms that fuse inertial measurements of angular velocity and specific acceleration with supplementary sensors including GNSS and magnetometers to estimate the position, velocity and attitude, or…
We propose Super Odometry, a high-precision multi-modal sensor fusion framework, providing a simple but effective way to fuse multiple sensors such as LiDAR, camera, and IMU sensors and achieve robust state estimation in…
This paper proposes to use a newly-derived transformed inertial navigation system (INS) mechanization to fuse INS with other complementary navigation systems. Through formulating the attitude, velocity and position as one group state of…
Global Positioning System (GPS) navigation provides accurate positioning with global coverage, making it a reliable option in open areas with unobstructed sky views. However, signal degradation may occur in indoor spaces and urban canyons.…
This paper presents a state-estimation solution for legged robots that uses a set of low-cost, compact, and lightweight sensors to achieve low-drift pose and velocity estimation under challenging locomotion conditions. The key idea is to…
Odometry in adverse weather conditions, such as fog, rain, and snow, presents significant challenges, as traditional vision and LiDAR-based methods often suffer from degraded performance. Radar-Inertial Odometry (RIO) has emerged as a…
Inertial navigation applications are usually referenced to a rotating frame. Consideration of the navigation reference frame rotation in the inertial navigation algorithm design is an important but so far less seriously treated issue,…
Structure from motion algorithms have an inherent limitation that the reconstruction can only be determined up to the unknown scale factor. Modern mobile devices are equipped with an inertial measurement unit (IMU), which can be used for…
Many robotic tasks rely on the accurate localization of moving objects within a given workspace. This information about the objects' poses and velocities are used for control,motion planning, navigation, interaction with the environment or…
We address the indoor localization problem, where the goal is to predict user's trajectory from the data collected by their smartphone, using inertial sensors such as accelerometer, gyroscope and magnetometer, as well as other environment…
In this paper, we present a tightly coupled optimization-based GPS-Visual-Inertial odometry system to solve the trajectory drift of the visual-inertial odometry especially over long-term runs. Visual reprojection residuals, IMU residuals,…
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…
Inertial sensors based on micro-electromechanical systems (MEMS) technology, such as accelerometers and angular rate sensors, are cost-effective solutions used in inertial navigation systems in a broad spectrum of applications that estimate…
Modern mobile phones contain a three-axis microelectromechanical system (MEMS) gyroscope, capable of taking accurate measurements of the angular velocity along the three principal axes of the phone with a sampling rate of 100 Hz or better.…
The exquisite precision of atom interferometers has sparked the interest of a large community for use cases ranging from fundamental physics to geodesy and inertial navigation. However, their practical use for onboard applications is still…
Long-term inertial navigation is currently limited by the bias drifts of gyroscopes and accelerometers and ultra-stable cold-atom interferometers offer a promising alternative for the next generation of high-end navigation systems. Here, we…
Attitude and heading reference systems (AHRS) play a central role in autonomous navigation systems on land, air and maritime platforms. AHRS utilize inertial sensor measurements to estimate platform orientation. In recent years, there has…