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To make off-screen interaction without specialized hardware practical, we investigate using deep learning methods to process the common built-in IMU sensor (accelerometers and gyroscopes) on mobile phones into a useful set of one-handed…
Visual-inertial odometry (VIO) is a vital technique used in robotics, augmented reality, and autonomous vehicles. It combines visual and inertial measurements to accurately estimate position and orientation. Existing VIO methods assume a…
High mobility channel estimation is crucial for beyond 5G (B5G) or 6G wireless communication networks. This paper is concerned with channel estimation of high mobility OFDM communication systems. First, a two-dimensional compressed sensing…
Automated food intake gesture detection plays a vital role in dietary monitoring, enabling objective and continuous tracking of eating behaviors to support better health outcomes. Wrist-worn inertial measurement units (IMUs) have been…
With the prevalence of wearable devices, inertial measurement unit (IMU) data has been utilized in monitoring and assessment of human mobility such as human activity recognition (HAR). Training deep neural network (DNN) models for these…
We present a method to improve the accuracy of a foot-mounted, zero-velocity-aided inertial navigation system (INS) by varying estimator parameters based on a real-time classification of motion type. We train a support vector machine (SVM)…
We propose a kinematic wave-based Deep Convolutional Neural Network (Deep CNN) to estimate high-resolution traffic speed fields from sparse probe vehicle trajectories. We introduce two key approaches that allow us to incorporate kinematic…
The emerging Internet of Things (IoT) applications, such as driverless cars, have a growing demand for high-precision positioning and navigation. Nowadays, LiDAR inertial odometry becomes increasingly prevalent in robotics and autonomous…
The importance of state estimation in fluid mechanics is well-established; it is required for accomplishing several tasks including design/optimization, active control, and future state prediction. A common tactic in this regards is to rely…
In this paper, we introduce IDOL, an optimization-based framework for IMU-DVS Odometry using Lines. Event cameras, also called Dynamic Vision Sensors (DVSs), generate highly asynchronous streams of events triggered upon illumination changes…
Millimeter-wave radar provides robust perception in visually degraded environments. However, radar-inertial state estimation is inherently susceptible to drift. Because radar yields only sparse, body-frame velocity measurements, it provides…
Estimation of optical aberrations from volumetric intensity images is a key step in sensorless adaptive optics for 3D microscopy. Recent approaches based on deep learning promise accurate results at fast processing speeds. However,…
Continual learning approaches help deep neural network models adapt and learn incrementally by trying to solve catastrophic forgetting. However, whether these existing approaches, applied traditionally to image-based tasks, work with the…
Vibration-based condition monitoring techniques are commonly used to identify faults in rolling element bearings. Accuracy and speed of fault detection procedures are critical performance measures in condition monitoring. Delay is…
Accurate and robust localization is a fundamental need for mobile agents. Visual-inertial odometry (VIO) algorithms exploit the information from camera and inertial sensors to estimate position and translation. Recent deep learning based…
Over the past decade, lidars have become a cornerstone of robotics state estimation and perception thanks to their ability to provide accurate geometric information about their surroundings in the form of 3D scans. Unfortunately, most of…
A simple approach to gyro and accelerometer bias estimation is proposed. It does not involve Kalman filtering or similar formal techniques. Instead, it is based on physical intuition and exploits a duality between gimbaled and strapdown…
Compared to other biometrics, gait is difficult to conceal and has the advantage of being unobtrusive. Inertial sensors, such as accelerometers and gyroscopes, are often used to capture gait dynamics. These inertial sensors are commonly…
Almost in every heavily computation-dependent application, from 6G communication systems to autonomous driving platforms, a large portion of computing should be near to the client side. Edge computing (AI at Edge) in mobile devices is one…
The task of indoor positioning is fundamental to several applications, including navigation, healthcare, location-based services, and security. An emerging field is inertial navigation for pedestrians, which relies only on inertial sensors…