Related papers: f2IMU-R: Pedestrian Navigation by Low-cost Foot-Mo…
In this paper, we present a tightly coupled optimization-based GPS-Visual-Inertial odometry system to solve the trajectory drift of the visual-inertial odometry especially over long-term runs. Visual reprojection residuals, IMU residuals,…
Full-body motion estimation of a human through wearable sensing technologies is challenging in the absence of position sensors. This paper contributes to the development of a model-based whole-body kinematics estimation algorithm using…
This paper presents the large and diverse dataset for development of smartphone-based pedestrian navigation algorithms. This dataset consists of about 1200 sets of inertial measurements from sensors of several smartphones. The measurements…
Although people spend most of their time indoors, outdoor tracking systems, such as the Global Positioning System (GPS), are predominantly used for location-based services. These systems are accurate outdoors, easy to use, and operate…
Inertial Measurement Units (IMUs) are interceptive modalities that provide ego-motion measurements independent of the environmental factors. They are widely adopted in various autonomous systems. Motivated by the limitations in processing…
A long-term accurate and robust localization system is essential for mobile robots to operate efficiently outdoors. Recent studies have shown the significant advantages of the wheel-mounted inertial measurement unit (Wheel-IMU)-based dead…
Pedestrian inertial localization is key for mobile and IoT services because it provides infrastructure-free positioning. Yet most learning-based methods depend on fixed sliding-window integration, struggle to adapt to diverse motion scales…
Precise, seamless, and efficient train localization as well as long-term railway environment monitoring is the essential property towards reliability, availability, maintainability, and safety (RAMS) engineering for railroad systems.…
We present a multisensor fusion framework for the onboard real-time navigation of a quadrotor in an indoor environment. The framework integrates sensor readings from an Inertial Measurement Unit (IMU), a camera-based object detection…
In this paper, we propose a fast extrinsic calibration method for fusing multiple inertial measurement units (MIMU) to improve visual-inertial odometry (VIO) localization accuracy. Currently, data fusion algorithms for MIMU highly depend on…
Inertial measurement units are commonly used in a growing number of application fields to track or capture motions of kinematic chains, such as human limbs, exoskeletons or robotic actuators. A major challenge is the presence of magnetic…
Relative positioning between multiple mobile users is essential for many applications, such as search and rescue in disaster areas or human social interaction. Inertial-measurement unit (IMU) is promising to determine the change of position…
Millimeter wave radar can measure distances, directions, and Doppler velocity for objects in harsh conditions such as fog. The 4D imaging radar with both vertical and horizontal data resembling an image can also measure objects' height.…
This paper derives a contact-aided inertial navigation observer for a 3D bipedal robot using the theory of invariant observer design. Aided inertial navigation is fundamentally a nonlinear observer design problem; thus, current solutions…
Aligning a robot's trajectory or map to the inertial frame is a critical capability that is often difficult to do accurately even though inertial measurement units (IMUs) can observe absolute roll and pitch with respect to gravity.…
Stride length estimation using inertial measurement unit (IMU) sensors is getting popular recently as one representative gait parameter for health care and sports training. The traditional estimation method requires some explicit…
A reliable self-contained navigation system is essential for autonomous vehicles. Based on our previous study on Wheel-INS \cite{niu2019}, a wheel-mounted inertial measurement unit (Wheel-IMU)-based dead reckoning (DR) system, in this…
Wearable inertial measurement units (IMUs) provide a cost-effective approach to assessing human movement in clinical and everyday environments. However, developing the associated classification models for robust assessment of…
Autonomous vehicles and wheeled robots are widely used in many applications in both indoor and outdoor settings. In practical situations with limited GNSS signals or degraded lighting conditions, the navigation solution may rely only on…
Current gait analysis faces challenges in various aspects, including limited and poorly labeled data within existing wearable electronics databases, difficulties in collecting patient data due to privacy concerns, and the inadequacy of the…