Related papers: Zero-Velocity Detection - A Bayesian Approach to A…

Robust aiding of inertial navigation systems in GNSS-denied environments is critical for the removal of accumulated navigation error caused by the drift and bias inherent in inertial sensors. One way to perform such an aiding uses matching…

Detecting symmetry from data is a fundamental problem in signal analysis, providing insight into underlying structure and constraints. When data emerge as trajectories of dynamical systems, symmetries encode structural properties of the…

Hazard detection is critical for enabling autonomous landing on planetary surfaces. Current state-of-the-art methods leverage traditional computer vision approaches to automate the identification of safe terrain from input digital elevation…

This paper considers a bearings-only tracking problem using noisy measurements of unknown noise statistics from a passive sensor. It is assumed that the process and measurement noise follows the Gaussian distribution where the measurement…

We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions…

In the present paper we develop a Bayesian analysis of radar target detection that uses the parameters of conventional radar analysis to provide a valid prediction of target presence or absence when received signals cross or fail to cross…

A "path-based sensor" produces a single observation along a continuous path. For example, a boolean path-based sensor returns a single "1" if an event of interest is detected at any point along the path and a "0" otherwise. Notably, a "1"…

Environment perception is the task for intelligent vehicles on which all subsequent steps rely. A key part of perception is to safely detect other road users such as vehicles, pedestrians, and cyclists. With modern deep learning techniques…

This paper presents a general stochastic model developed for a class of cooperative wireless relay networks, in which imperfect knowledge of the channel state information at the destination node is assumed. The framework incorporates…

This work introduces an adaptive Bayesian algorithm for real-time trajectory prediction via intention inference, where a target's intentions and motion characteristics are unknown and subject to change. The method concurrently estimates two…

Robust pedestrian safety is crucial to the next-generation of intelligent transportation systems. Such systems rely on active pedestrian localization and predictive collision alerts. Pedestrian localization can be supported by…

We develop a supervised machine learning model that detects anomalies in systems in real time. Our model processes unbounded streams of data into time series which then form the basis of a low-latency anomaly detection model. Moreover, we…

Inertial-based navigation refers to the navigation methods or systems that have inertial information or sensors as the core part and integrate a spectrum of other kinds of sensors for enhanced performance. Through a series of papers, the…

Although the anchor-based detectors have taken a big step forward in pedestrian detection, the overall performance of algorithm still needs further improvement for practical applications, \emph{e.g.}, a good trade-off between the accuracy…

This paper addresses the adaptive radar target detection problem in the presence of Gaussian interference with unknown statistical properties. To this end, the problem is first formulated as a binary hypothesis test, and then we derive a…

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…

Accurate detection of locomotion transitions, such as walk to sit, walk to stair ascent, and descent, is crucial to effectively control robotic assistive devices, such as lower-limb exoskeletons, as each locomotion mode requires specific…

Environment awareness is crucial for enhancing walking safety and stability of amputee wearing powered prosthesis when crossing uneven terrains such as stairs and obstacles. However, existing environmental perception systems for prosthesis…

We present a comprehensive framework for fusing measurements from multiple and generally placed accelerometers and gyroscopes to perform inertial navigation. Using the angular acceleration provided by the accelerometer array, we show that…

We extend the recently introduced regularization/Bayesian System Identification procedures to the estimation of time-varying systems. Specifically, we consider an online setting, in which new data become available at given time steps. The…