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Although Global Navigation Satellite Systems (GNSS) provide a general solution for bike tracking outdoors, there still exist complex riding environments where only inertial navigation systems work, such as urban canyons. Despite decades of…
This paper proposes the inertial localization problem, the task of estimating the absolute location from a sequence of inertial sensor measurements. This is an exciting and unexplored area of indoor localization research, where we present a…
Real-world applications of bipedal robot walking require accurate, real-time state estimation. State estimation for locomotion over dynamic rigid surfaces (DRS), such as elevators, ships, public transport vehicles, and aircraft, remains…
The miniaturization of inertial measurement units (IMUs) facilitates their widespread use in a growing number of application domains. Orientation estimation is a prerequisite for most further data processing steps in inertial motion…
Powered prostheses are effective for helping amputees walk on level ground, but these devices are inconvenient to use in complex environments. Prostheses need to understand the motion intent of amputees to help them walk in complex…
This paper presents a novel autonomous quality metric to quantify the rehabilitations progress of subjects with knee/hip operations. The presented method supports digital analysis of human gait patterns using smartphones. The algorithm…
Modern canine applications span medical and service roles, while robotic legged dogs serve as autonomous platforms for high-risk industrial inspection, disaster response, and search and rescue operations. For both, accurate positioning…
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…
Attitude determination using the smartphone's inertial sensors poses a major challenge due to the sensor low-performance grade and variate nature of the walking pedestrian. In this paper, data-driven techniques are employed to address that…
Objective: Our aim is to determine if data collected with inertial measurement units (IMUs) during steady-state running could be used to estimate ground reaction forces (GRFs) and to derive biomechanical variables (e.g., contact time,…
In recent years, as the population ages, falls have increasingly posed a significant threat to the health of the elderly. We propose a real-time fall detection system that integrates the inertial measurement unit (IMU) of a smartphone with…
The use of wearable technology for posture monitoring has been expanding due to its low-intrusiveness and compliance with daily use requirements. However, there are still open challenges limiting its widespread use, especially when dealing…
In this paper, a computational resources-aware parameter adaptation method for visual-inertial navigation systems is proposed with the goal of enabling the improved deployment of such algorithms on computationally constrained systems. Such…
We propose iMoT, an innovative Transformer-based inertial odometry method that retrieves cross-modal information from motion and rotation modalities for accurate positional estimation. Unlike prior work, during the encoding of the motion…
There are several confounding factors that can reduce the accuracy of gait recognition systems. These factors can reduce the distinctiveness, or alter the features used to characterise gait, they include variations in clothing, lighting,…
To enhance lifting-load estimation accuracy in industrial upper-limb assistive exoskeletons, this study proposes a machine learning-based approach using insole pressure sensors. Unlike traditional methods that rely on electromyography…
This paper describes a novel method for the estimation of the trajectory curve and orientation of a rigid body moving along a railway track. Compared to other recent developments in the literature, the presented approach has the significant…
The interest in mobile platforms across a variety of applications has increased significantly in recent years. One of the reasons is the ability to achieve accurate navigation by using low-cost sensors. To this end, inertial sensors are…
An algorithm for pose and motion estimation using corresponding features in images and a digital terrain map is proposed. Using a Digital Terrain (or Digital Elevation) Map (DTM/DEM) as a global reference enables recovering the absolute…
Human gait has been shown to provide crucial motion cues for various applications. Recognizing patterns in human gait has been widely adopted in various application areas such as security, virtual reality gaming, medical rehabilitation, and…