Related papers: Sparse Magnetometer-free Inertial Motion Tracking …
Understanding the dynamics of two inertial bodies coupled via a friction interface is essential for a wide range of systems and motion control applications. Coupling terms within the dynamics of an inertial pair connected via a passive…
We present a multi-camera visual-inertial odometry system based on factor graph optimization which estimates motion by using all cameras simultaneously while retaining a fixed overall feature budget. We focus on motion tracking in…
We present a method to improve the accuracy of a foot-mounted, zero-velocity-aided inertial navigation system (INS) by varying estimator parameters based on a real-time classification of motion type. We train a support vector machine (SVM)…
PPG based heart rate (HR) monitoring has recently attracted much attention with the advent of wearable devices such as smart watches and smart bands. However, due to severe motion artifacts (MA) caused by wristband stumbles, PPG based HR…
Sonomyography (SMG) is a non-invasive technique that uses ultrasound imaging to detect the dynamic activity of muscles. Wearable SMG systems have recently gained popularity due to their potential as human-computer interfaces for their…
We derive an exact deterministic nonlinear observer to compute the continuous state of an inertial navigation system based on partial discrete measurements, the so-called strapdown problem. Nonlinear contraction is used as the main analysis…
Indoor magnetic fields are a combination of Earth's magnetic field and disruptions induced by ferromagnetic objects, such as steel structural components in buildings. As a result of these disruptions, pervasive in indoor spaces, magnetic…
We present the hardware of a cheap multi-sensor magnetometric setup where a relatively large set of magnetic field components is measured in several positions by calibrated magnetoresistive detectors. The setup is developed with the scope…
In this paper, we develop a system for the low-cost indoor localization and tracking problem using radio signal strength indicator, Inertial Measurement Unit (IMU), and magnetometer sensors. We develop a novel and simplified probabilistic…
Many modern applications require detecting change points in complex sequential data. Most existing methods for change point detection are unsupervised and, as a consequence, lack any information regarding what kind of changes we want to…
This paper presents a control interface to translate the residual body motions of individuals living with severe disabilities, into control commands for body-machine interaction. A custom, wireless, wearable multi-sensor network is used to…
Human motion capture is frequently used to study rehabilitation and clinical problems, as well as to provide realistic animation for the entertainment industry. IMU-based systems, as well as Marker-based motion tracking systems, are the…
To bridge the physical and virtual worlds for rapidly developed VR/AR applications, the ability to realistically drive 3D full-body avatars is of great significance. Although real-time body tracking with only the head-mounted displays…
Flexible joint robots, in particularly those which are equipped with harmonic-drive gears, can feature elasticities with hysteresis. Under heavy loads and large joint torques the hysteresis lost motion can lead to significant errors of…
Estimating the limbs pose in a wearable way may benefit multiple areas such as rehabilitation, teleoperation, human-robot interaction, gaming, and many more. Several solutions are commercially available, but they are usually expensive or…
A realistic human kinematic model that satisfies anatomical constraints is essential for human-robot interaction, biomechanics and robot-assisted rehabilitation. Modeling realistic joint constraints, however, is challenging as human arm…
Visible images have been widely used for motion estimation. Thermal images, in contrast, are more challenging to be used in motion estimation since they typically have lower resolution, less texture, and more noise. In this paper, a novel…
Human motion detection is getting considerable attention in the field of Artificial Intelligence (AI) driven healthcare systems. Human motion can be used to provide remote healthcare solutions for vulnerable people by identifying particular…
Relative State Estimation perform mutually localization between two mobile agents undergoing six-degree-of-freedom motion. Based on the principle of circular motion, the estimation accuracy is sensitive to nonlinear rotations of the…
In this paper, we study state estimation of multi-visual-inertial systems (MVIS) and develop sensor fusion algorithms to optimally fuse an arbitrary number of asynchronous inertial measurement units (IMUs) or gyroscopes and global and(or)…