Related papers: Velocity-aided IMU-based Attitude Estimation
The fusion of visual and inertial measurements is becoming more and more popular in the robotics community since both sources of information complement well each other. However, in order to perform this fusion, the biases of the Inertial…
Attitude estimation is often a prerequisite for control of the attitude or orientation of mechanical systems. Current attitude estimation algorithms use coordinate representations for the group of rigid body orientations. All coordinate…
Rigid body systems usually consider measurements of the pose of the body using onboard cameras/LiDAR systems, that of linear acceleration using an accelerometer and of angular velocity using an IMU. However, the measurements of the linear…
Treating IMU measurements as inputs to a motion model and then preintegrating these measurements has almost become a de-facto standard in many robotics applications. However, this approach has a few shortcomings. First, it conflates the IMU…
In this paper, we address the problem of relative localization of two mobile agents. Specifically, we consider the Dual-IMU system, where each agent is equipped with one IMU, and employs relative pose observations between them. Previous…
The miniaturization of inertial measurement units (IMUs) facilitates their widespread use in a growing number of application domains. Orientation estimation is a prerequisite for most further data processing steps in inertial motion…
This paper tackles the problem of estimating the relative position, orientation, and velocity between a UAV and a planar platform undergoing arbitrary 3D motion during approach and landing. The estimation relies on measurements from…
A deterministic attitude estimation problem for a rigid body in a potential field, with bounded attitude and angular velocity measurement errors is considered. An attitude estimation algorithm that globally minimizes the attitude estimation…
Attitude determination using the smartphone's inertial sensors poses a major challenge due to the sensor low-performance grade and variate nature of the walking pedestrian. In this paper, data-driven techniques are employed to address that…
Inertial measurement units (IMUs) increasingly function as a basic component of wearable sensor network (WSN)systems. IMU-based joint angle estimation (JAE) is a relatively typical usage of IMUs, with extensive applications. However, the…
The paper addresses the problem of attitude estimation for rigid bodies using (possibly time-varying) vector measurements, for which we provide a necessary and sufficient condition of distinguishability. Such a condition is shown to be…
This paper presents a new method for jointly calibrating a magnetometer and inertial measurement unit (IMU), focusing on balancing calibration accuracy and computational efficiency. The proposed method is based on a maximum a posteriori…
This paper presents a novel end-to-end deep learning framework for real-time inertial attitude estimation using 6DoF IMU measurements. Inertial Measurement Units are widely used in various applications, including engineering and medical…
By learning human motion priors, motion capture can be achieved by 6 inertial measurement units (IMUs) in recent years with the development of deep learning techniques, even though the sensor inputs are sparse and noisy. However, human…
This paper addresses the problem of simultaneous estimation of the position, linear velocity and orientation of a rigid body using single bearing measurements. We introduce a Riccati observer-based estimator that fuses measurements from a…
We propose a new position control strategy for VTOL-UAVs using IMU and GPS measurements. Since there is no sensor that measures the attitude, our approach does not rely on the knowledge (or reconstruction) of the system orientation as…
The existing attitude controllers (without angular velocity measurements) involve explicitly the orientation (\textit{e.g.,} the unit-quaternion) in the feedback. Unfortunately, there does not exist any sensor that directly measures the…
There are several attitude estimation algorithms in existence, all of which use local coordinate representations for the group of rigid body orientations. All local coordinate representations of the group of orientations have associated…
Algorithms for state estimation of humanoid robots usually assume that the feet remain flat and in a constant position while in contact with the ground. However, this hypothesis is easily violated while walking, especially for human-like…
This paper investigates the problem of continuous attitude estimation on $SO(3)$ using continuous angular velocity and linear acceleration measurements as well as intermittent linear velocity and inertial vector measurements. First, we…