Related papers: Autonomous Calibration of MEMS Gyros in Consumer P…
The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during motions between the prespecified test postures. It employs a low-cost measuring system…
As LIGO and Virgo are upgraded, improving calibration systems to keep pace with the anticipated signal-to-noise enhancements will be challenging. We explore here a calibration method that uses astronomical signals, namely inspiral signals…
Calibration of fixtures in robotic work cells is essential but also time consuming and error-prone, and poor calibration can easily lead to wasted debugging time in downstream tasks. Contact-based calibration methods let the user measure…
Hand-eye calibration is an important and extensively researched method for calibrating rigidly coupled sensors, solely based on estimates of their motion. Due to the geometric structure of this problem, at least two motion estimates with…
In this article we propose the use of accelerometer embedded by default in smartphone as a cost-effective, reliable and efficient way to provide remote physical activity monitoring for the elderly and people requiring healthcare service.…
In this paper, we present a user-friendly LiDAR-camera calibration toolkit that is compatible with various LiDAR and camera sensors and requires only a single pair of laser points and a camera image in targetless environments. Our approach…
Positron Emission Tomography (PET) enables functional imaging of deep brain structures, but the bulk and weight of current systems preclude their use during many natural human activities, such as locomotion. The proposed long-term solution…
We propose an indoor navigation algorithm based on pedestrian dead reckoning (PDR) using an inertial measurement unit in a smartphone and map matching. The proposed indoor navigation system is user-friendly and convenient because it…
Multi-camera systems are widely employed in sports to capture the 3D motion of athletes and equipment, yet calibrating their extrinsic parameters remains costly and labor-intensive. We introduce an efficient, tool-free method for…
Motion sensors such as accelerometers and gyroscopes measure the instant acceleration and rotation of a device, in three dimensions. Raw data streams from motion sensors embedded in portable and wearable devices may reveal private…
The fusion of multi-modal sensors has become increasingly popular in autonomous driving and intelligent robots since it can provide richer information than any single sensor, enhance reliability in complex environments. Multi-sensor…
Visual perception is regularly used by humans and robots for navigation. By either implicitly or explicitly mapping the environment, ego-motion can be determined and a path of actions can be planned. The process of mapping and navigation…
Sensors in high-precision mechatronic systems require accurate calibration, which is achieved using test beds that, in turn, require even more accurate calibration. The aim of this paper is to develop a cascaded calibration method for…
The choice of poses for camera calibration with planar patterns is only rarely considered - yet the calibration precision heavily depends on it. This work presents a pose selection method that finds a compact and robust set of calibration…
As robots shift from industrial to human-centered spaces, adopting mobile manipulators, which expand workspace capabilities, becomes crucial. In these settings, seamless interaction with humans necessitates compliant control. Two common…
In modern robotic applications, tactile sensor arrays (i.e., artificial skins) are an emergent solution to determine the locations of contacts between a robot and an external agent. Localizing the point of contact is useful but determining…
Modern autonomous systems typically use several sensors for perception. For best performance, accurate and reliable extrinsic calibration is necessary. In this research, we propose a reliable technique for the extrinsic calibration of…
In this paper, we propose a method of targetless and automatic Camera-LiDAR calibration. Our approach is an extension of hand-eye calibration framework to 2D-3D calibration. By using the sensor fusion odometry method, the scaled camera…
Mobile robot positioning, mapping, and navigation systems generally employ an inertial measurement unit (IMU) to obtain the acceleration and angular velocity of the robot. However, errors in the internal and external parameters of an IMU…
We address the problem of optical decalibration in mobile stereo camera setups, especially in context of autonomous vehicles. In real world conditions, an optical system is subject to various sources of anticipated and unanticipated…