Related papers: Multivariate Signal Modelling with Applications to…
Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…
Sensor calibration is the fundamental block for a multi-sensor fusion system. This paper presents an accurate and repeatable LiDAR-IMU calibration method (termed LI-Calib), to calibrate the 6-DOF extrinsic transformation between the 3D…
Networks of low-cost sensors are becoming ubiquitous, but often suffer from poor accuracies and drift. Regular colocation with reference sensors allows recalibration but is complicated and expensive. Alternatively the calibration can be…
Autonomous shipping has recently gained much interest in the research community. However, little research focuses on inland - and port navigation, even though this is identified by countries such as Belgium and the Netherlands as an…
Modern navigation solutions are largely dependent on the performances of the standalone inertial sensors, especially at times when no external sources are available. During these outages, the inertial navigation solution is likely to…
Correcting gradual position drift is a challenge in long-term subsea navigation. Though highly accurate, modern inertial navigation system (INS) estimates will drift over time due to the accumulated effects of sensor noise and biases, even…
The work analyzes existing methods for increasing the accuracy of determining weekend navigation parameters of unmanned underwater vehicles. It is proposed to retrofit the navigation system with an additional hydrodynamic tilt unit, which…
The increasing number of inverter based resources (IBRs) connected to modern power systems necessitate accurate modeling of IBRs in stability studies. Measurement-based modeling approaches can create an impedance/admittance model of IBRs to…
Connected and cooperative driving requires precise calibration of the roadside infrastructure for having a reliable perception system. To solve this requirement in an automated manner, we present a robust extrinsic calibration method for…
We consider the problem of localizing a manned, semi-autonomous, or autonomous vehicle in the environment using information coming from the vehicle's sensors, a problem known as navigation or simultaneous localization and mapping (SLAM)…
The performance of data fusion and tracking algorithms often depends on parameters that not only describe the sensor system, but can also be task-specific. While for the sensor system tuning these variables is time-consuming and mostly…
Inertial motion analysis is having a growing interest during the last decades due to its advantages over classical optical systems. The technological solution based on inertial measurement units allows the measurement of movements in daily…
Modern autonomous navigation for unmanned ground vehicles relies on different estimators to fuse inertial sensors and GNSS measurements. However, the constant noise covariance matrices often struggle to account for dynamic real-world…
Inertial-aided systems require continuous motion excitation among other reasons to characterize the measurement biases that will enable accurate integration required for localization frameworks. This paper proposes the use of informative…
The essential of navigation, perception, and decision-making which are basic tasks for intelligent robots, is to estimate necessary system states. Among them, navigation is fundamental for other upper applications, providing precise…
An inertial navigation system (INS) utilizes three orthogonal accelerometers and gyroscopes to determine platform position, velocity, and orientation. There are countless applications for INS, including robotics, autonomous platforms, and…
Navigation in unknown, chaotic environments continues to present a significant challenge for the robotics community. Lighting changes, self-similar textures, motion blur, and moving objects are all considerable stumbling blocks for…
This paper proposes a novel algorithm to determine the optimal placement of redundant inertial sensors such as accelerometers and gyroscopes (gyros) for increasing the sensing accuracy. In this paper, we have proposed a novel iterative…
Inertial motion capture is a promising approach for capturing motion outside the laboratory. However, as one major drawback, most of the current methods require different quantities to be calibrated or computed offline as part of the setup…
Autonomous mobile robots are widely used for navigation, transportation, and inspection tasks indoors and outdoors. In practical situations of limited satellite signals or poor lighting conditions, navigation depends only on inertial…