Related papers: DimRad: A Radar-Based Perception System for Prosth…

This paper presents the design and development of an intelligent subsystem that includes a novel low-power radar sensor integrated into an autonomous racing perception pipeline to robustly estimate the position and velocity of dynamic…

In this paper, we propose Argus, a wearable add-on system based on stripped-down (i.e., compact, lightweight, low-power, limited-capability) mmWave radars. It is the first to achieve egocentric human mesh reconstruction in a multi-view…

This paper presents a wearable assistive device with the shape of a pair of eyeglasses that allows visually impaired people to navigate safely and quickly in unfamiliar environment, as well as perceive the complicated environment to…

Staircases are some of the most common building structures in urban environments. Stair detection is an important task for various applications, including the environmental perception of exoskeleton robots, humanoid robots, and rescue…

This work presents a wearable human activity recognition (HAR) system that performs real-time inference directly inside a shank-mounted inertial measurement unit (IMU) to support low-latency control of a lower-limb exoskeleton. Unlike…

Radar for deep learning-based human identification has become a research area of increasing interest. It has been shown that micro-Doppler ($\mu$-D) can reflect the walking behavior through capturing the periodic limbs' micro-motions. One…

Scene understanding plays an essential role in enabling autonomous driving and maintaining high standards of performance and safety. To address this task, cameras and laser scanners (LiDARs) have been the most commonly used sensors, with…

In this paper, a simultaneous localization and mapping (SLAM) algorithm for tracking the motion of a pedestrian with a foot-mounted inertial measurement unit (IMU) is proposed. The algorithm uses two maps, namely, a motion map and a…

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…

Visually impaired people face significant challenges in their day-to-day commutes in the urban cities of Bangladesh due to the vast number of obstructions on every path. With many injuries taking place through road accidents on a daily…

This paper introduces a system of data collection acceleration and real-to-sim transferring for surface recognition on a quadruped robot. The system features a mechanical single-leg setup capable of stepping on various easily…

Inertial navigation systems for pedestrians are infrastructure-less and can achieve sub-meter accuracy in the short/medium period. However, when low-cost inertial measurement units (IMU) are employed for their implementation, they suffer…

Positional estimation is of great importance in the public safety sector. Emergency responders such as fire fighters, medical rescue teams, and the police will all benefit from a resilient positioning system to deliver safe and effective…

Partial-assistance exoskeletons hold significant potential for gait rehabilitation by promoting active participation during (re)learning of normative walking patterns. Typically, the control of interaction torques in partial-assistance…

Despite significant advancements in environment perception capabilities for autonomous driving and intelligent robotics, cameras and LiDARs remain notoriously unreliable in low-light conditions and adverse weather, which limits their…

One of the main paths towards the reduction of traffic accidents is the increase in vehicle safety through driver assistance systems or even systems with a complete level of autonomy. In these types of systems, tasks such as obstacle…

Radar is a key component of the suite of perception sensors used for safe and reliable navigation of autonomous vehicles. Its unique capabilities include high-resolution velocity imaging, detection of agents in occlusion and over long…

Finding obstacle-free paths in unknown environments is a big navigation issue for visually impaired people and autonomous robots. Previous works focus on obstacle avoidance, however they do not have a general view of the environment they…

Multi-legged robots (MLRs) are vulnerable to leg damage during complex missions, which can impair their performance. This paper presents a self-modeling and damage identification algorithm that enables autonomous adaptation to partial or…

Pedestrians Localization in Non-Line-of-Sight (NLoS) regions within urban environments poses a significant challenge for autonomous driving systems. While mmWave radar has demonstrated potential for detecting objects in such scenarios, the…