Related papers: A Trident Quaternion Framework for Inertial-based …
Integration of inertial navigation system (INS) and global navigation satellite system (GNSS) is usually implemented in engineering applications by way of Kalman-like filtering. This form of INS/GNSS integration is prone to attitude…
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…
Kinematic structures are very common in the real world. They range from simple articulated objects to complex mechanical systems. However, despite their relevance, most model-based 3D tracking methods only consider rigid objects. To…
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…
Vision-based 3D human motion capture from videos remains a challenge in computer vision. Traditional 3D pose estimation approaches often ignore the temporal consistency between frames, causing implausible and jittery motion. The emerging…
Robust multisensor fusion of multi-modal measurements such as IMUs, wheel encoders, cameras, LiDARs, and GPS holds great potential due to its innate ability to improve resilience to sensor failures and measurement outliers, thereby enabling…
A Scene, represented visually using different formats such as RGB-D, LiDAR scan, keypoints, rectangular, spherical, multi-views, etc., contains information implicitly embedded relevant to applications such as scene indexing, vision-based…
The performance of inertial navigation systems is largely dependent on the stable flow of external measurements and information to guarantee continuous filter updates and bind the inertial solution drift. Platforms in different operational…
A desireable property of accelerometric gait-based identification systems is robustness to new device orientations presented by users during testing but unseen during the training phase. However, traditional Convolutional neural networks…
We present a theoretical and numerical framework to compute bifurcations of equilibria and stability of slender elastic rods. The 3D kinematics of the rod is treated in a geometrically exact way by parameterizing the position of the…
Initial alignment is one of the key technologies in strapdown inertial navigation system (SINS) to provide initial state information for vehicle attitude and navigation. For some situations, such as the attitude heading reference system,…
This paper describes a novel method for the estimation of the trajectory curve and orientation of a rigid body moving along a railway track. Compared to other recent developments in the literature, the presented approach has the significant…
With the rapid development of wearable technology, devices like smartphones, smartwatches, and headphones equipped with IMUs have become essential for applications such as pedestrian positioning. However, traditional pedestrian dead…
The inertial navigation system (INS) has been widely used to provide self-contained and continuous motion estimation in intelligent transportation systems. Recently, the emergence of chip-level inertial sensors has expanded the relevant…
This paper presents the analytic modeling of mobile heavy-duty manipulators with actively articulated suspension and its optimal control to maximize its static and dynamic stabilization. By adopting the screw theory formalism, we consider…
We propose iMoT, an innovative Transformer-based inertial odometry method that retrieves cross-modal information from motion and rotation modalities for accurate positional estimation. Unlike prior work, during the encoding of the motion…
In this paper, a novel method for vision-aided navigation based on trifocal tensor is presented. The main goal of the proposed method is to provide position estimation in GPS-denied environments for vehicles equipped with a standard…
State of the art quadrupedal locomotion approaches integrate Model Predictive Control (MPC) with Reinforcement Learning (RL), enabling complex motion capabilities with planning and terrain adaptive behaviors. However, they often face…
The existing attitude controllers (without angular velocity measurements) involve explicitly the orientation (\textit{e.g.,} the unit-quaternion) in the feedback. Unfortunately, there does not exist any sensor that directly measures the…
This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement Unit (IMU) providing body-frame measurements of the angular…