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This letter proposes a reactive navigation strategy for recovering the altitude, translational velocity and orientation of Micro Aerial Vehicles. The main contribution lies in the direct and tight fusion of Inertial Measurement Unit (IMU)…
We tackle the problem of tracking the human lower body as an initial step toward an automatic motion assessment system for clinical mobility evaluation, using a multimodal system that combines Inertial Measurement Unit (IMU) data, RGB…
We present a robust control and estimation framework for quadrotors operating in Global Navigation Satellite System(GNSS)-denied, non-inertial environments where inertial sensors such as Inertial Measurement Units (IMUs) become unreliable…
Implementing dynamic locomotion behaviors on legged robots requires a high-quality state estimation module. Especially when the motion includes flight phases, state-of-the-art approaches fail to produce reliable estimation of the robot…
Indoor wireless ranging localization is a promising approach for low-power and high-accuracy localization of wearable devices. A primary challenge in this domain stems from non-line of sight propagation of radio waves. This study tackles a…
Estimation of the centre of pressure (COP) is an important part of the gait analysis, for example, when evaluating the functional capacity of individuals affected by motor impairment. Inertial measurement units (IMUs) and force sensors are…
We present a generalized velocity model to improve localization when using an Inertial Navigation System (INS). This algorithm was applied to correct the velocity of a smart phone based indoor INS system to increase the accuracy by…
We propose a multisensor fusion framework for onboard real-time navigation of a quadrotor in an indoor environment, by integrating sensor readings from an Inertial Measurement Unit (IMU), a camera-based object detection algorithm, and an…
This paper addresses the problem of accurate localization for quadrupedal robots operating in narrow tunnel-like environments. Due to the long and homogeneous characteristics of such scenarios, LiDAR measurements often provide weak…
A Magnetic field Aided Inertial Navigation System (MAINS) for indoor navigation is proposed in this paper. MAINS leverages an array of magnetometers to measure spatial variations in the magnetic field, which are then used to estimate the…
Inertial-based navigation refers to the navigation methods or systems that have inertial information or sensors as the core part and integrate a spectrum of other kinds of sensors for enhanced performance. Through a series of papers, the…
Relative State Estimation perform mutually localization between two mobile agents undergoing six-degree-of-freedom motion. Based on the principle of circular motion, the estimation accuracy is sensitive to nonlinear rotations of the…
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…
In recent years, 3D mapping for indoor environments has undergone considerable research and improvement because of its effective applications in various fields, including robotics, autonomous navigation, and virtual reality. Building an…
Inertial motion analysis is having a growing interest during the last decades due to its advantages over classical optical systems. The technological solution based on inertial measurement units allows the measurement of movements in daily…
In recent years, multiple Light Detection and Ranging (LiDAR) systems have grown in popularity due to their enhanced accuracy and stability from the increased field of view (FOV). However, integrating multiple LiDARs can be challenging,…
Jamming devices disrupt signals from the global navigation satellite system (GNSS) and pose a significant threat by compromising the reliability of accurate positioning. Consequently, the detection and localization of these interference…
In this work we present more comprehensive evaluations on our airborne Gimbal mounted inertial measurement unit (IMU) signal simulator which also considers flight dynamic model (FDM). A flexible IMU signal simulator is an enabling tool in…
Inertial-aided systems require continuous motion excitation among other reasons to characterize the measurement biases that will enable accurate integration required for localization frameworks. This paper proposes the use of informative…
Involuntary motion during weight-bearing cone-beam computed tomography (CT) scans of the knee causes artifacts in the reconstructed volumes making them unusable for clinical diagnosis. Currently, image-based or marker-based methods are…