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The operation and management of intelligent transportation systems (ITS), such as traffic monitoring, relies on real-time data aggregation of vehicular traffic information, including vehicular types (e.g., cars, trucks, and buses), in the…
Due to geometrical errors and possible misalignment of the sensors, wheel speed measurements provided by incremental encoders in road vehicles are usually affected by significant periodic noises. This paper presents an online wheel speed…
Recent advances in glass fabrication technology have allowed for the development of high-precision inertial sensors in devices weighing in the order of grams. Gram-scale inertial sensors can be used in many applications with tight space or…
Inertial navigation computation is to acquire the attitude, velocity and position information of a moving body by integrating inertial measurements from gyroscopes and accelerometers. Over half a century has witnessed great efforts in…
An experimental setup is presented, developed for comprehensive evaluation of high performance inertial sensors for translational motion, accelerometers and geophones. It employs a precision, robust air bearing stage driven by integral…
The design of navigation observers able to simultaneously estimate the position, linear velocity and orientation of a vehicle in a three-dimensional space is crucial in many robotics and aerospace applications. This problem was mainly dealt…
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…
In this work, we demonstrate the importance of zero velocity information for global navigation satellite system (GNSS) based navigation. The effectiveness of using the zero velocity information with zero velocity update (ZUPT) for inertial…
Millimeter wave radar can measure distances, directions, and Doppler velocity for objects in harsh conditions such as fog. The 4D imaging radar with both vertical and horizontal data resembling an image can also measure objects' height.…
Vehicle odometry is an essential component of an automated driving system as it computes the vehicle's position and orientation. The odometry module has a higher demand and impact in urban areas where the global navigation satellite system…
High precision interferometers such as gravitational-wave detectors require complex seismic isolation systems in order to decouple the experiment from unwanted ground motion. Improved inertial sensors for active isolation potentially…
Inertial Odometry (IO) enables real-time localization using only acceleration and angular velocity measurements from an Inertial Measurement Unit (IMU), making it a promising solution for localization in consumer-grade applications.…
Deployment of automated ground vehicles beyond the confines of sunny and dry climes will require sub-lane-level positioning techniques based on radio waves rather than near-visible-light radiation. Like human sight, lidar and cameras…
The lack of realistic and open benchmarking datasets for pedestrian visual-inertial odometry has made it hard to pinpoint differences in published methods. Existing datasets either lack a full six degree-of-freedom ground-truth or are…
We present a method to improve the accuracy of a zero-velocity-aided inertial navigation system (INS) by replacing the standard zero-velocity detector with a long short-term memory (LSTM) neural network. While existing threshold-based…
An inertial sensor design is proposed in this paper to achieve high sensitivity and large dynamic range in the sub-Hz frequency regime. High acceleration sensitivity is obtained by combining optical cavity readout systems with…
Modern autonomous vehicles and robots utilize versatile sensors for localization and mapping. The fidelity of these maps is paramount, as an accurate environmental representation is a prerequisite for stable and precise localization. Factor…
Accurate measurement of inertial quantities is essential in geophysics, geodesy, fundamental physics and navigation. For instance, inertial navigation systems require stable inertial sensors to compute the position and attitude of the…
Enabling autonomous robots to operate robustly in challenging environments is necessary in a future with increased autonomy. For many autonomous systems, estimation and odometry remains a single point of failure, from which it can often be…
Traditional visual-inertial state estimation targets absolute camera poses and spatial landmark locations while first-order kinematics are typically resolved as an implicitly estimated sub-state. However, this poses a risk in velocity-based…