Related papers: Dynamic Attitude Estimation Improvement for Low-co…
This paper proposes a real-time approach for long-term inertial navigation based only on an Inertial Measurement Unit (IMU) for self-localizing wheeled robots. The approach builds upon two components: 1) a robust detector that uses…
We present a system for the boresighting of sensors using inertial measurement devices as the basis for developing a range of dynamic real-time sensor fusion applications. The proof of concept utilizes a COTS FPGA platform for sensor fusion…
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…
A monocular 3D object tracking system generally has only up-to-scale pose estimation results without any prior knowledge of the tracked object. In this paper, we propose a novel idea to recover the metric scale of an arbitrary dynamic…
Successful navigation of a rigid-body traveling with six degrees of freedom (6 DoF) requires accurate estimation of attitude , position, and linear velocity. The true navigation dynamics are highly nonlinear and are modeled on the matrix…
Accurate and robust attitude estimation is a central challenge for autonomous vehicles operating in GNSS-denied or highly dynamic environments. In such cases, Inertial Measurement Units (IMUs) alone are insufficient for reliable tilt…
Unmanned Aerial Vehicles (UAV) have emerged as versatile platforms, driving the demand for accurate modeling to support developmental testing. This paper proposes data-driven modeling software for UAV. Emphasizes the utilization of…
This study presents an enhanced proprioceptive method for accurate shape estimation of soft robots using only off-the-shelf sensors, ensuring cost-effectiveness and easy applicability. By integrating inertial measurement units (IMUs) with…
This paper presents a robust 6-DOF relative navigation by combining the iterative closet point (ICP) registration algorithm and a noise-adaptive Kalman filter (AKF) in a closed-loop configuration together with measurements from a laser…
This paper proposes a novel algorithm to determine the optimal placement of redundant inertial sensors such as accelerometers and gyroscopes (gyros) for increasing the sensing accuracy. In this paper, we have proposed a novel iterative…
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…
We present an efficient algorithm for motion planning and control of a robot system with a high number of degrees-of-freedom. These include high-DOF soft robots or an articulated robot interacting with a deformable environment. Our approach…
While quantum accelerometers sense with extremely low drift and low bias, their practical sensing capabilities face two limitations compared with classical accelerometers: a lower sample rate due to cold atom interrogation time, and a…
Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in…
Tracking motions of humans or objects in the surroundings of the robot is essential to improve safe robot motions and reactions. In this work, we present an approach for scene flow estimation from low-density and noisy point clouds acquired…
This paper introduces a generic filter-based state estimation framework that supports two state-decoupling strategies based on cross-covariance factorization. These strategies reduce the computational complexity and inherently support true…
There exist challenging problems in 3D human pose estimation mission, such as poor performance caused by occlusion and self-occlusion. Recently, IMU-vision sensor fusion is regarded as valuable for solving these problems. However, previous…
In this paper, we address the challenge of navigating through unknown indoor environments using autonomous aerial robots within confined spaces. The core of our system involves the integration of key sensor technologies, including depth…
Global Navigation Satellite System/Inertial Navigation System (GNSS/INS)/Vision integration based on factor graph optimization (FGO) has recently attracted extensive attention in navigation and robotics community. Integrity monitoring (IM)…
In industrial applications requiring real-time feedback, such as quality control and robotic manipulation, the demand for high-speed and accurate pose estimation remains critical. Despite advances improving speed and accuracy in pose…