Related papers: Sparse Magnetometer-free Inertial Motion Tracking …
This paper proposes a novel inertial-aided localization approach by fusing information from multiple inertial measurement units (IMUs) and exteroceptive sensors. IMU is a low-cost motion sensor which provides measurements on angular…
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…
Hand pose tracking is essential for advancing applications in human-computer interaction. Current approaches, such as vision-based systems and wearable devices, face limitations in portability, usability, and practicality. We present a…
In this paper, we propose a novel dynamic calibration method for sparse inertial motion capture systems, which is the first to break the restrictive absolute static assumption in IMU calibration, i.e., the coordinate drift RG'G and…
Real-time human motion reconstruction from a sparse set of (e.g. six) wearable IMUs provides a non-intrusive and economic approach to motion capture. Without the ability to acquire position information directly from IMUs, recent works took…
The use of an infrared sensor as a new alternative to measure position as a function of time in kinematic experiments was investigated using a microcontroller as data acquisition and control device. These are versatile sensors that offer…
This work presents an approach for modelling and tracking previously unseen objects for robotic grasping tasks. Using the motion of objects in a scene, our approach segments rigid entities from the scene and continuously tracks them to…
This research provides a theoretical foundation for modeling and real-time estimation of both the pose and inertial parameters of a free-floating multi-link system with link thrusters, which are essential for safe and effective controller…
This document describes the theory used for the calculation of track geometric irregularities on a Track Geometry Measuring System (TGMS) to be installed in railway vehicles. The TGMS includes a computer for data acquisition and process, a…
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…
Remote monitoring of motor functions is a powerful approach for health assessment, especially among the elderly population or among subjects affected by pathologies that negatively impact their walking capabilities. This is further…
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…
Many applications involve humans in the loop, where continuous and accurate human motion monitoring provides valuable information for safe and intuitive human-machine interaction. Portable devices such as inertial measurement units (IMUs)…
Involuntary subject motion is the main source of artifacts in weight-bearing cone-beam CT of the knee. To achieve image quality for clinical diagnosis, the motion needs to be compensated. We propose to use inertial measurement units (IMUs)…
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…
Recent advancements in visual-inertial motion capture systems have demonstrated the potential of combining monocular cameras with sparse inertial measurement units (IMUs) as cost-effective solutions, which effectively mitigate occlusion and…
An Inertial Navigation System (INS) is a system that integrates acceleration and angular velocity readings from an Inertial Measurement Unit (IMU), along with other sensors such as Global Navigation Satellite Systems (GNSS) position, GNSS…
We introduce a new dynamic model with the capability of recognizing both activities that an individual is performing as well as where that ndividual is located. Our model is novel in that it utilizes a dynamic graphical model to jointly…
Jamming devices disrupt signals from the global navigation satellite system (GNSS) and pose a significant threat by compromising the reliability of accurate positioning. Consequently, the detection and localization of these interference…
Feature tracking is a fundamental problem in computer vision, with applications in many computer vision tasks, such as visual SLAM and action recognition. This paper introduces a novel multi-body feature tracker that exploits a multi-body…