Related papers: Sparse Magnetometer-free Inertial Motion Tracking …
Sensing technology has significantly advanced in automating systems that reflect human movement, particularly in robotics and healthcare, where it is used to automatically detect target movements. This study develops a method to…
Millimeter-wave radar provides robust perception in visually degraded environments. However, radar-inertial state estimation is inherently susceptible to drift. Because radar yields only sparse, body-frame velocity measurements, it provides…
Baseline generation for tracking applications is a difficult task when working with real world radar data. Data sparsity usually only allows an indirect way of estimating the original tracks as most objects' centers are not represented in…
Full-body motion tracking plays an essential role in AR/VR applications, bridging physical and virtual interactions. However, it is challenging to reconstruct realistic and diverse full-body poses based on sparse signals obtained by…
A framework for tightly integrated motion mode classification and state estimation in motion-constrained inertial navigation systems is presented. The framework uses a jump Markov model to describe the navigation system's motion mode and…
Friction is an unavoidable phenomenon that exists in all mechanical systems incorporating parts with relative motion. It is well-known that friction is a serious impediment for precise servo control, hence the interest to devise a procedure…
Sleep behaviour and in-bed movements contain rich information on the neurophysiological health of people, and have a direct link to the general well-being and quality of life. Standard clinical practices rely on polysomnography for sleep…
Sensor fusion of a MEMS IMU with a magnetometer is a popular system design, because such 9-DoF (degrees of freedom) systems are capable of achieving drift-free 3D orientation tracking. However, these systems are often vulnerable to ambient…
We present a novel algorithm for online, real-time orientation estimation. Our algorithm integrates gyroscope data and corrects the resulting orientation estimate for integration drift using accelerometer and magnetometer data. This…
This paper describes a novel method for the estimation of the trajectory curve and orientation of a rigid body moving along a railway track. Compared to other recent developments in the literature, the presented approach has the significant…
Fetal movement count monitoring is one of the most commonly used methods of assessing fetal well-being. While few methods are available to monitor fetal movements, they consist of several adverse qualities such as unreliability as well as…
This paper proposes a novel unit-quaternion observer-based controller for attitude tracking (attitude and angular velocity) with guaranteed transient and steady-state performance. The proposed approach is computationally cheap and can…
This paper presents a novel approach to vehicle positioning that operates without reliance on the global navigation satellite system (GNSS). Traditional GNSS approaches are vulnerable to interference in certain environments, rendering them…
Building a complete inertial navigation system using the limited quality data provided by current smartphones has been regarded challenging, if not impossible. This paper shows that by careful crafting and accounting for the weak…
Low-back pain (LBP) is a widespread disease which can also be highly disabling, but physicians lack of basic understanding and diagnosis tools. During this study, we have designed and built a new wearable device capable of detecting…
Despite researchers having extensively studied various ways to track body pose on-the-go, most prior work does not take into account wheelchair users, leading to poor tracking performance. Wheelchair users could greatly benefit from this…
This paper addresses the problem of choosing a sparse subset of measurements for quick calibration parameter estimation. A standard solution to this is selecting a measurement only if its utility -- the difference between posterior (with…
One of fundamental issues for security robots is to detect and track people in the surroundings. The main problems of this task are real-time constraints, a changing background, varying illumination conditions and a non-rigid shape of the…
We introduce a new, analytical method for generating whole-body motions for humanoid robots, which approximate the desired Composite Rigid Body (CRB) inertia. Our approach uses a reduced five mass model, where four of the masses are…
In this paper, we develop an integrated markerless gait tracking system with three Kinect v2 sensors. A geometric principle-based trilateration method is proposed for optimizing the accuracy of the measured gait data. To tackle the data…