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The calibration of MEMS triaxial gyroscopes is crucial for achieving precise attitude estimation for various wearable health monitoring applications. However, gyroscope calibration poses greater challenges compared to accelerometers and…
In inertial motion capture, a multitude of body segments are equipped with inertial sensors, consisting of 3D accelerometers and 3D gyroscopes. Using an optimization-based approach to solve the motion capture problem allows for natural…
Accurate lower-limb joint kinematic estimation is critical for applications such as patient monitoring, rehabilitation, and exoskeleton control. While previous studies have employed wearable sensor-based deep learning (DL) models for…
The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during motions between the prespecified test postures. It employs a low-cost measuring system…
This paper presents an efficient servomotor-aided calibration method for the triaxial gyroscope. The entire calibration process only requires approximately one minute, and does not require high-precision equipment. This method is based on…
This paper presents an approach for inferring geometric constraints in human demonstrations. In our method, geometric constraint models are built to create representations of kinematic constraints such as fixed point, axial rotation,…
We introduce a new, analytical method for generating whole-body motions for humanoid robots, which approximate the desired Composite Rigid Body (CRB) inertia. Our approach uses a reduced five mass model, where four of the masses are…
Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…
Low-cost gyroscope calibration is essential for ensuring the accuracy and reliability of gyroscope measurements. Stationary calibration estimates the deterministic parts of measurement errors. To this end, a common practice is to average…
Positron Emission Tomography (PET) enables functional imaging of deep brain structures, but the bulk and weight of current systems preclude their use during many natural human activities, such as locomotion. The proposed long-term solution…
This paper presents a novel framework for estimating the position and orientation of flexible manipulators undergoing vertical motion using multiple inertial measurement units (IMUs), optimized and calibrated with ground truth data. The…
Motion prediction is a classic problem in computer vision, which aims at forecasting future motion given the observed pose sequence. Various deep learning models have been proposed, achieving state-of-the-art performance on motion…
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…
High absolute accuracy is an essential prerequisite for a humanoid robot to autonomously and robustly perform manipulation tasks while avoiding obstacles. We present for the first time a kinematic model for a humanoid upper body…
Velocity estimation is a core component of state estimation and sensor fusion pipelines in mobile robotics and autonomous ground systems, directly affecting navigation accuracy, control stability, and operational safety. In conventional…
This paper improves visual-inertial systems to boost the localization accuracy for low-cost rescue robots. When robots traverse on rugged terrain, the performance of pose estimation suffers from big noise on the measurements of the inertial…
Recently, through development of several 3d vision systems, widely used in various applications, medical and biometric fields. Microsoft kinect sensor have been most of used camera among 3d vision systems. Microsoft kinect sensor can obtain…
Environmental conditions and external effects, such as shocks, have a significant impact on the calibration parameters of visual-inertial sensor systems. Thus long-term operation of these systems cannot fully rely on factory calibration.…
Accurate motion estimation at high acceleration factors enables rapid motion-compensated reconstruction in Magnetic Resonance Imaging (MRI) without compromising the diagnostic image quality. In this work, we introduce an attention-aware…
Gyroscopes are inertial sensors that measure the angular velocity of the platforms to which they are attached. To estimate the gyroscope deterministic error terms prior mission start, a calibration procedure is performed. When considering…