Related papers: RIDI: Robust IMU Double Integration
We present a large-scale study exploring the capability of temporal deep neural networks to interpret natural human kinematics and introduce the first method for active biometric authentication with mobile inertial sensors. At Google, we…
In recent years, deep learning-based approaches for visual-inertial odometry (VIO) have shown remarkable performance outperforming traditional geometric methods. Yet, all existing methods use both the visual and inertial measurements for…
Inertial-based Motion capture system has been attracting growing attention due to its wearability and unsconstrained use. However, accurate human joint estimation demands several complex and expertise demanding steps, which leads to…
Visual-Inertial Odometry(VIO), which is critical to mobile robot navigation, uses cameras with a large number of pixels. Capturing and processing camera images requires significant resources. This work presents a minimalist approach to…
Human Activity Recognition (HAR) is an ongoing research topic. It has applications in medical support, sports, fitness, social networking, human-computer interfaces, senior care, entertainment, surveillance, and the list goes on.…
Respecting the geometry of the underlying system and exploiting its symmetry have been driving concepts in deriving modern geometric filters for inertial navigation systems (INSs). Despite their success, the explicit treatment of inertial…
Treating IMU measurements as inputs to a motion model and then preintegrating these measurements has almost become a de-facto standard in many robotics applications. However, this approach has a few shortcomings. First, it conflates the IMU…
Stride length estimation using inertial measurement unit (IMU) sensors is getting popular recently as one representative gait parameter for health care and sports training. The traditional estimation method requires some explicit…
Although people spend most of their time indoors, outdoor tracking systems, such as the Global Positioning System (GPS), are predominantly used for location-based services. These systems are accurate outdoors, easy to use, and operate…
This article presents a method to automatically detect and classify climbing activities using inertial measurement units (IMUs) attached to the wrists, feet and pelvis of the climber. The IMUs record limb acceleration and angular velocity.…
Inertial sensors are present in most mobile devices nowadays and such devices are used by people during most of their daily activities. In this paper, we present an approach for human activity recognition based on inertial sensors by…
We present a novel human-aware navigation approach, where the robot learns to mimic humans to navigate safely in crowds. The presented model, referred to as DeepMoTIon, is trained with pedestrian surveillance data to predict human velocity…
Algorithms for state estimation of humanoid robots usually assume that the feet remain flat and in a constant position while in contact with the ground. However, this hypothesis is easily violated while walking, especially for human-like…
Inertial measurement units (IMUs) are central to wearable systems for activity recognition and pose estimation, but sensor placement remains largely guided by heuristics and convention. In this work, we introduce Where to Wear (W2W), a…
In this paper, we propose an algorithm to combine multiple cheap Inertial Measurement Unit (IMU) sensors to calculate 3D-orientations accurately. Our approach takes into account the inherent and non-negligible systematic error in the…
This paper introduces a novel proprioceptive state estimator for legged robots based on a learned displacement measurement from IMU data. Recent research in pedestrian tracking has shown that motion can be inferred from inertial data using…
A global navigation satellite system (GNSS) is a sensor that can acquire 3D position and velocity in an earth-fixed coordinate system and is widely used for outdoor position estimation of robots and vehicles. Various GNSS/inertial…
Synchronisation of wireless inertial measurement units in human movement analysis is often achieved using event-based synchronisation techniques. However, these techniques lack precise event generation and accuracy. An inaccurate…
Mobile robots are used in various fields, from deliveries to search and rescue applications. Different types of sensors are mounted on the robot to provide accurate navigation and, thus, allow successful completion of its task. In…
Aligning a robot's trajectory or map to the inertial frame is a critical capability that is often difficult to do accurately even though inertial measurement units (IMUs) can observe absolute roll and pitch with respect to gravity.…