Related papers: Sparse Magnetometer-free Inertial Motion Tracking …
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…
We propose Ground Reaction Inertial Poser (GRIP), a method that reconstructs physically plausible human motion using four wearable devices. Unlike conventional IMU-only approaches, GRIP combines IMU signals with foot pressure data to…
Purpose: This study demonstrates a proof of concept of a method for simultaneous anatomical imaging and real-time (SMART) passive device tracking for MR-guided interventions. Methods: Phase Correlation template matching was combined with a…
In order to make robots more useful in a variety of environments, they need to be highly portable so that they can be transported to wherever they are needed, and highly storable so that they can be stored when not in use. We propose…
We combine traditional pointer-based simultaneous measurements of conjugate observables with the concept of quantum Brownian motion of multipartite systems to phenomenologically model simultaneous measurements of conjugate observables in a…
Real-time tracking of inertia is important because it reflects the power system's ability to withstand contingencies and maintain frequency security. This paper proposes a practical approach to estimate inertia using ambient phasor…
Inertial sensors stimulate very large interest, not only for their application but also for fundamental physics tests. Ring laser gyros, which measure angular rotation rate, are certainly among the most sensitive inertial sensors, with…
Either RGB images or inertial signals have been used for the task of motion capture (mocap), but combining them together is a new and interesting topic. We believe that the combination is complementary and able to solve the inherent…
In Landmark-Inertial Simultaneous Localisation and Mapping (LI-SLAM), the positions of landmarks in the environment and the robot's pose relative to these landmarks are estimated using landmark position measurements, and measurements from…
Autonomous vehicles and wheeled robots are widely used in many applications in both indoor and outdoor settings. In practical situations with limited GNSS signals or degraded lighting conditions, the navigation solution may rely only on…
What if our clothes could capture our body motion accurately? This paper introduces Flexible Inertial Poser (FIP), a novel motion-capturing system using daily garments with two elbow-attached flex sensors and four Inertial Measurement Units…
Intelligent wearable technology plays an increasingly important role in human-computer interaction, motion, and health monitoring. To ensure comfort and practicality of use, one common form for motion monitoring is to utilize soft wearable…
Identifying the parameters of robotic systems, such as motor inertia or joint friction, is critical to satisfactory controller synthesis, model analysis, and observer design. Conventional identification techniques are designed primarily for…
Without requiring objects to carry any transceiver, device-free based object tracking provides a promising solution for many localization and tracking systems to monitor non-cooperative objects such as intruders. However, existing…
Compensatory trunk movements (CTMs) are commonly observed after stroke and can lead to maladaptive movement patterns, limiting targeted training of affected structures. Objective, continuous detection of CTMs during therapy and activities…
A classic task in robotics is tracking a target in the external environment. There are several well-documented approaches to this problem. This paper presents a novel approach to this problem using infrared time of flight sensors. The use…
Sparse wearable inertial measurement units (IMUs) have gained popularity for estimating 3D human motion. However, challenges such as pose ambiguity, data drift, and limited adaptability to diverse bodies persist. To address these issues, we…
A novel modular modeling and control framework based on Lagrangian mechanics is proposed for multibody systems, motivated by the challenges of modular control of systems with closed kinematic chains and by the need for a modeling framework…
The paper presents a direct visual-inertial odometry system. In particular, a tightly coupled nonlinear optimization based method is proposed by integrating the recent advances in direct dense tracking and Inertial Measurement Unit (IMU)…
Over the past decade, lidars have become a cornerstone of robotics state estimation and perception thanks to their ability to provide accurate geometric information about their surroundings in the form of 3D scans. Unfortunately, most of…