Related papers: Velocity-aided IMU-based Attitude Estimation
Existing inertial motion capture techniques use the human root coordinate frame to estimate local poses and treat it as an inertial frame by default. We argue that when the root has linear acceleration or rotation, the root frame should be…
Magnetometer has received wide applications in attitude determination and scientific measurements. Calibration is an important step for any practical magnetometer use. The most popular three-axis magnetometer calibration methods are…
We study methods to estimate drivers' posture in vehicles using acceleration data of wearable sensor and conduct field tests. To prevent fatal accidents, demands for safety management of bus and taxi are high. However, acceleration of…
In this paper, we study methods to estimate drivers' posture in vehicles using acceleration data of wearable sensor and conduct a field test. Recently, sensor technologies have been progressed. Solutions of safety management to analyze…
Inertial navigation systems (INS) are widely used in almost any operational environment, including aviation, marine, and land vehicles. Inertial measurements from accelerometers and gyroscopes allow the INS to estimate position, velocity,…
Relative state estimation using exteroceptive sensors suffers from limitations of the field of view (FOV) and false detection, that the proprioceptive sensor (IMU) data are usually engaged to compensate. Recently ego-motion constraint…
Home-based physical therapies are effective if the prescribed exercises are correctly executed and patients adhere to these routines. This is specially important for older adults who can easily forget the guidelines from therapists.…
In this paper, we consider a position estimation problem for an unmanned aerial vehicle (UAV) equipped with both proprioceptive sensors, i.e. IMU, and exteroceptive sensors, i.e. GPS and a barometer. We propose a data-driven position…
We analyze theoretically the sensitivity of accelerometry and rotation sensing with a point source interferometer employing large momentum transfer (LMT) and present a design of an inertial measurement unit (IMU) that can measure rotation…
Inertial navigation systems for pedestrians are infrastructure-less and can achieve sub-meter accuracy in the short/medium period. However, when low-cost inertial measurement units (IMU) are employed for their implementation, they suffer…
Autonomous driving systems are highly dependent on sensors like cameras, LiDAR, and inertial measurement units (IMU) to perceive the environment and estimate their motion. Among these sensors, perception-based sensors are not protected from…
For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with the environment, as accurate state estimation is essential…
Tracking kinematic chains has many uses from healthcare to virtual reality. Inertial measurement units, IMUs, are well-recognised for their body tracking capabilities, however, existing solutions rely on gravity and often magnetic fields…
Accurate and reliable estimation of biases of low-cost Inertial Measurement Units (IMU) is a key factor to maintain the resilience of Visual-Inertial Odometry (VIO), particularly when visual tracking fails in challenging areas. In such…
Inertial Odometry (IO) has gained attention in quadrotor applications due to its sole reliance on inertial measurement units (IMUs), attributed to its lightweight design, low cost, and robust performance across diverse environments.…
We present a robust system for state estimation that fuses measurements from multiple lidars and inertial sensors with GNSS data. To initiate the method, we use the prior GNSS pose information. We then perform incremental motion in…
This work presents approaches for the estimation of quantities important for the control of the momentum of a humanoid robot. In contrast to previous approaches which use simplified models such as the Linear Inverted Pendulum Model, we…
We describe the characterization and removal of noise present in the Inertial Measurement Unit (IMU) MPU-6050. This IMU was initially used in an attitude sensor (AS) developed in-house, and subsequently implemented in a pointing and…
Modular robots have been rising in popularity for a variety of applications, and autonomous midair docking is a necessary task for real world deployment of these robots. We present a state estimator based on the extended Kalman filter for…
Helmet-mounted wearable positioning systems are crucial for enhancing safety and facilitating coordination in industrial, construction, and emergency rescue environments. These systems, including LiDAR-Inertial Odometry (LIO) and…