Related papers: Ground vehicle odometry using a non-intrusive iner…
In past few years we have observed an increase in the usage of RGBD sensors in mobile devices. These sensors provide a good estimate of the depth map for the camera frame, which can be used in numerous augmented reality applications. This…
The agility and versatility offered by UAV platforms still encounter obstacles for full exploitation in industrial applications due to their indoor usage limitations. A significant challenge in this sense is finding a reliable and…
Visual odometry and SLAM methods have a large variety of applications in domains such as augmented reality or robotics. Complementing vision sensors with inertial measurements tremendously improves tracking accuracy and robustness, and thus…
The techniques of laser cooling combined with atom interferometry make possible the realization of very sensitive and accurate inertial sensors like gyroscopes or accelerometers. Besides earth-based developments, the use of these techniques…
Fetal movement count monitoring is one of the most commonly used methods of assessing fetal well-being. While few methods are available to monitor fetal movements, they consist of several adverse qualities such as unreliability as well as…
Intelligent Transportation Systems (ITS) have a pressing need for efficient and reliable traffic surveillance solutions. This paper for the first time proposes a surveillance system that utilizes low-cost magnetic sensors for detecting and…
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…
4D millimeter-wave (mmWave) radars are sensors that provide robustness against adverse weather conditions (rain, snow, fog, etc.), and as such they are increasingly used for odometry and SLAM (Simultaneous Location and Mapping). However,…
In the framework of General Relativity we develop a method for analysis of the operation of the optical position meters in their photodetectors proper reference frames. These frames are non-inertial in general due to the action of external…
This paper proposes a novel algorithm for vehicle speed-aided monocular visual-inertial localization using a topological map. The proposed system aims to address the limitations of existing methods that rely heavily on expensive sensors…
In this paper, we introduce a novel approach for ground plane normal estimation of wheeled vehicles. In practice, the ground plane is dynamically changed due to braking and unstable road surface. As a result, the vehicle pose, especially…
Nonlinear systems of affine control inputs overarch many sensor fusion instances. Analyzing whether a state variable in such a nonlinear system can be estimated (i.e., observability) informs better estimator design. Among the research on…
The monitoring of accelerations is essential for a variety of applications ranging from inertial navigation to consumer electronics. The basic operation principle of an accelerometer is to measure the displacement of a flexibly mounted test…
Nowadays, smartphones are not utilized for communications only. Smartphones are equipped with a lot of sensors that can be utilized for different purposes. For example, inertial sensors have been used extensively in recent years for…
Recent advances in 4D radar-inertial odometry have demonstrated promising potential for autonomous lo calization in adverse conditions. However, effective handling of sparse and noisy radar measurements remains a critical challenge. In this…
In motion tracking of connected multi-body systems Inertial Measurement Units (IMUs) are used in a wide variety of applications, since they provide a low-cost easy-to-use method for orientation estimation. However, in indoor environments or…
Over the past decades, a tremendous amount of work has addressed the topic of ego-motion estimation of moving platforms based on various proprioceptive and exteroceptive sensors. At the cost of ever-increasing computational load and sensor…
This paper proposes a real-time physically-based method for simulating vehicle deformation. Our system synthesizes vehicle deformation characteristics by considering a low-dimensional coupled vehicle body technique. We simulate the motion…
In this paper we present an on-manifold sequence-to-sequence learning approach to motion estimation using visual and inertial sensors. It is to the best of our knowledge the first end-to-end trainable method for visual-inertial odometry…
Modern inertial measurements units (IMUs) are small, cheap, energy efficient, and widely employed in smart devices and mobile robots. Exploiting inertial data for accurate and reliable pedestrian navigation supports is a key component for…