Related papers: IMU Data Processing For Inertial Aided Navigation:…
Building a complete inertial navigation system using the limited quality data provided by current smartphones has been regarded challenging, if not impossible. This paper shows that by careful crafting and accounting for the weak…
Accurate odometry is a critical component in a robotic navigation stack, and subsequent modules such as planning and control often rely on an estimate of the robot's motion. Sensor-based odometry approaches should be robust across sensor…
Learning-based inertial odometry has achieved remarkable progress in pedestrian navigation. However, extending these methods to quadruped robots remains challenging due to their distinct and highly dynamic motion patterns. Models that…
Respecting the geometry of the underlying system and exploiting its symmetry have been driving concepts in deriving modern geometric filters for inertial navigation systems (INSs). Despite their success, the explicit treatment of inertial…
We introduce a new second-order inertial optimization method for machine learning called INNA. It exploits the geometry of the loss function while only requiring stochastic approximations of the function values and the generalized…
Autonomous underwater vehicles (AUVs) are sophisticated robotic platforms crucial for a wide range of applications. The accuracy of AUV navigation systems is critical to their success. Inertial sensors and Doppler velocity logs (DVL) fusion…
This work demonstrates an airflow inertial based odometry system with multi-sensor data fusion, including thermal anemometer, IMU, ESC, and barometer. This goal is challenging because low-cost IMUs and barometers have significant bias, and…
Pedestrian dead reckoning is a challenging task due to the low-cost inertial sensor error accumulation. Recent research has shown that deep learning methods can achieve impressive performance in handling this issue. In this letter, we…
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…
This paper presents a novel framework for estimating the position and orientation of flexible manipulators undergoing vertical motion using multiple inertial measurement units (IMUs), optimized and calibrated with ground truth data. The…
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…
We propose a new approach for large-scale high-dynamic range computational imaging. Deep Neural Networks (DNNs) trained end-to-end can solve linear inverse imaging problems almost instantaneously. While unfolded architectures provide…
Advanced wearable sensor devices have enabled the recording of vast amounts of movement data from individuals regarding their physical activities. This data offers valuable insights that enhance our understanding of how physical activities…
In this paper, we propose a new strategy for learning inertial robotic navigation models. The proposed strategy enhances the generalisability of end-to-end inertial modelling, and is aimed at wheeled robotic deployments. Concretely, the…
A current-aided inertial navigation framework is proposed for small autonomous underwater vehicles in long-duration operations (> 1 hour), where neither frequent surfacing nor consistent bottom-tracking are available. We instantiate this…
This paper proposes a novel inertial-aided localization approach by fusing information from multiple inertial measurement units (IMUs) and exteroceptive sensors. IMU is a low-cost motion sensor which provides measurements on angular…
Together with the rapid development of the Internet of Things (IoT), human activity recognition (HAR) using wearable Inertial Measurement Units (IMUs) becomes a promising technology for many research areas. Recently, deep learning-based…
Many techniques have been developed, such as model compression, to make Deep Neural Networks (DNNs) inference more efficiently. Nevertheless, DNNs still lack excellent run-time dynamic inference capability to enable users trade-off accuracy…
Massive Multiple-Input Multiple-Output (massive MIMO) technology stands as a cornerstone in 5G and beyonds. Despite the remarkable advancements offered by massive MIMO technology, the extreme number of antennas introduces challenges during…
Foot-mounted inertial sensors become popular in many indoor or GPS-denied applications, including but not limited to medical monitoring, gait analysis, soldier and first responder positioning. However, the foot-mounted inertial navigation…