Related papers: A Lightweight and Accurate Localization Algorithm …
Pose estimation purely based on 3D point-cloud could suffer from degradation, e.g. scan blocks or scans in repetitive environments. To deal with this problem, we propose an approach for fusing 3D spinning LiDAR and IMU to estimate the…
The implementation challenges of cooperative localization by dual foot-mounted inertial sensors and inter-agent ranging are discussed and work on the subject is reviewed. System architecture and sensor fusion are identified as key…
With the rapid development of wearable technology, devices like smartphones, smartwatches, and headphones equipped with IMUs have become essential for applications such as pedestrian positioning. However, traditional pedestrian dead…
Accurate state estimation is a fundamental problem for autonomous robots. To achieve locally accurate and globally drift-free state estimation, multiple sensors with complementary properties are usually fused together. Local sensors…
Spatially inhomogeneous magnetic fields offer a valuable, non-visual information source for positioning. Among systems leveraging this, magnetic field-based simultaneous localization and mapping (SLAM) systems are particularly attractive.…
We propose a multi-sensor fusion method for capturing challenging 3D human motions with accurate consecutive local poses and global trajectories in large-scale scenarios, only using single LiDAR and 4 IMUs, which are set up conveniently and…
In this paper, we argue that modern pre-integration methods for inertial measurement units (IMUs) are accurate enough to ignore the drift for short time intervals. This allows us to consider a simplified camera model, which in turn admits…
Real-time object pose estimation and tracking is challenging but essential for emerging augmented reality (AR) applications. In general, state-of-the-art methods address this problem using deep neural networks which indeed yield…
This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement Unit (IMU) providing body-frame measurements of the angular…
In recent years, multiple Light Detection and Ranging (LiDAR) systems have grown in popularity due to their enhanced accuracy and stability from the increased field of view (FOV). However, integrating multiple LiDARs can be challenging,…
Inertial measurement units (IMUs) are fundamental sensing components in multi-source integrated navigation systems, and their performance directly determines the accuracy and reliability of solutions. However, the precision of low-cost IMUs…
The combination of ultrawideband (UWB) radios and inertial measurement units (IMU) can provide accurate positioning. To ensure reliable communication, the radios are generally mounted at the extremities of a mobile system whereas the IMUs…
We propose a novel method to tackle the visual-inertial localization problem for constrained camera movements. We use residuals from the different modalities to jointly optimize a global cost function. The residuals emerge from IMU…
We present a new method to combine several rigidly connected but physically separated IMUs through a weighted average into a single virtual IMU (VIMU). This has the benefits of (i) reducing process noise through averaging, and (ii) allowing…
A reliable pose estimator robust to environmental disturbances is desirable for mobile robots. To this end, inertial measurement units (IMUs) play an important role because they can perceive the full motion state of the vehicle…
Inertial Measurement Unit (IMU) has long been a dream for stable and reliable motion estimation, especially in indoor environments where GPS strength limits. In this paper, we propose a novel method for position and orientation estimation…
Robust and accurate six degree-of-freedom tracking on portable devices remains a challenging problem, especially on small hand-held devices such as smartphones. For improved robustness and accuracy, complementary movement information from…
This study presents an enhanced proprioceptive method for accurate shape estimation of soft robots using only off-the-shelf sensors, ensuring cost-effectiveness and easy applicability. By integrating inertial measurement units (IMUs) with…
In recent years, MEMS inertial sensors (3D accelerometers and 3D gyroscopes) have become widely available due to their small size and low cost. Inertial sensor measurements are obtained at high sampling rates and can be integrated to obtain…
Legged robot navigation in unstructured and slippery terrains depends heavily on the ability to accurately identify the quality of contact between the robot's feet and the ground. Contact state estimation is regarded as a challenging…