Related papers: A Fast and Robust Algorithm for Orientation Estima…
Magnetometer and inertial sensors are widely used for orientation estimation. Magnetometer usage is often troublesome, as it is prone to be interfered by onboard or ambient magnetic disturbance. The onboard soft-iron material distorts not…
In this paper, we propose a novel laser-inertial odometry and mapping method to achieve real-time, low-drift and robust pose estimation in large-scale highway environments. The proposed method is mainly composed of four sequential modules,…
This paper proposes a real-time approach for long-term inertial navigation based only on an Inertial Measurement Unit (IMU) for self-localizing wheeled robots. The approach builds upon two components: 1) a robust detector that uses…
A novel algorithm is presented for the estimation of collision probabilities between dynamic objects with uncertain trajectories, where the trajectories are given as a sequence of poses with Gaussian distributions. We propose an adaptive…
We derive efficient algorithms to compute weakly Pareto optimal solutions for smooth, convex and unconstrained multiobjective optimization problems in general Hilbert spaces. To this end, we define a novel inertial gradient-like dynamical…
In this paper, an approach for reducing the drift in monocular visual odometry algorithms is proposed based on a feedforward neural network. A visual odometry algorithm computes the incremental motion of the vehicle between the successive…
A large number of cameras embedded on smart-phones, drones or inside cars have a direct access to external motion sensing from gyroscopes and accelerometers. On these power-limited devices, video compression must be of low-complexity. For…
A global navigation satellite system (GNSS) is a sensor that can acquire 3D position and velocity in an earth-fixed coordinate system and is widely used for outdoor position estimation of robots and vehicles. Various GNSS/inertial…
The most commonly used method for addressing 3D geometric registration is the iterative closet-point algorithm, this approach is incremental and prone to drift over multiple consecutive frames. The Common strategy to address the drift is…
The performances of braking control systems for robotic platforms, e.g., assisted and autonomous vehicles, airplanes and drones, are deeply influenced by the road-tire friction experienced during the maneuver. Therefore, the availability of…
Aggressive motions from agile flights or traversing irregular terrain induce motion distortion in LiDAR scans that can degrade state estimation and mapping. Some methods exist to mitigate this effect, but they are still too simplistic or…
This paper is devoted to first-order algorithms for smooth convex optimization with inexact gradients. Unlike the majority of the literature on this topic, we consider the setting of relative rather than absolute inexactness. More…
Inertial navigation using low-cost MEMS sensors is plagued by rapid drift due to sensor noise and bias instability. While recent data-driven approaches have made significant strides, they often struggle with micro-drifts during stationarity…
Attitude and heading reference systems (AHRS) play a central role in autonomous navigation systems on land, air and maritime platforms. AHRS utilize inertial sensor measurements to estimate platform orientation. In recent years, there has…
Accurate alignment of a fixed mobile device equipped with inertial sensors inside a moving vehicle is important for navigation, activity recognition, and other applications. Accurate estimation of the device mounting angle is required to…
We propose an indoor navigation algorithm based on pedestrian dead reckoning (PDR) using an inertial measurement unit in a smartphone and map matching. The proposed indoor navigation system is user-friendly and convenient because it…
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…
Mild traumatic brain injury (mTBI) often results from violent head motion or impact. Most prevention strategies explicitly or implicitly rely on motion- or deformation-based injury criteria, both of which require accurate measurements of…
This paper presents a two-step algorithm for online trajectory planning in indoor environments with unknown obstacles. In the first step, sampling-based path planning techniques such as the optimal Rapidly exploring Random Tree (RRT*)…
Most existing visual-inertial odometry (VIO) initialization methods rely on accurate pre-calibrated extrinsic parameters. However, during long-term use, irreversible structural deformation caused by temperature changes, mechanical…