Related papers: Detecting and Correcting IMU Movements During Join…

This paper tackles the problem of estimating the relative position, orientation, and velocity between a UAV and a planar platform undergoing arbitrary 3D motion during approach and landing. The estimation relies on measurements from…

Accurate and physically feasible human motion prediction is crucial for safe and seamless human-robot collaboration. While recent advancements in human motion capture enable real-time pose estimation, the practical value of many existing…

The robust estimation of the mounting angle for millimeter-wave automotive radars installed on moving vehicles is investigated. We propose a novel signal processing pipeline that combines radar and inertial measurement unit (IMU) data to…

Most aerial manipulators use serial rigid-link designs, which results in large forces when initiating contacts during manipulation and could cause flight stability difficulty. This limitation could potentially be improved by the compliance…

This project presents the development of a gait recognition system using Tiny Machine Learning (Tiny ML) and Inertial Measurement Unit (IMU) sensors. The system leverages the XIAO-nRF52840 Sense microcontroller and the LSM6DS3 IMU sensor to…

Safety and automatic control are extremely important when operating manipulators. For large engineering manipulators, the main challenge is to accurately recognize the posture of all arm segments. In classical sensing methods, the accuracy…

Inertial measurement units are commonly used to estimate the attitude of moving objects. Numerous nonlinear filter approaches have been proposed for solving the inherent sensor fusion problem. However, when a large range of different…

We present a method to improve the accuracy of a foot-mounted, zero-velocity-aided inertial navigation system (INS) by varying estimator parameters based on a real-time classification of motion type. We train a support vector machine (SVM)…

Environment awareness is crucial for enhancing walking safety and stability of amputee wearing powered prosthesis when crossing uneven terrains such as stairs and obstacles. However, existing environmental perception systems for prosthesis…

This work presents a contracting hierarchical observer that fuses position and orientation measurements with an IMU to generate smooth position, linear velocity, orientation, and IMU bias estimates that are guaranteed to converge to their…

Background. Joint range of motion (ROM) is an important quantitative measure for physical therapy. Commonly relying on a goniometer, accurate and reliable ROM measurement requires extensive training and practice. This, in turn, imposes a…

This paper proposes a learning method for denoising gyroscopes of Inertial Measurement Units (IMUs) using ground truth data, and estimating in real time the orientation (attitude) of a robot in dead reckoning. The obtained algorithm…

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…

Motivated by the goal of achieving robust, drift-free pose estimation in long-term autonomous navigation, in this work we propose a methodology to fuse global positional information with visual and inertial measurements in a tightly-coupled…

A self-contained autonomous dead reckoning (DR) system is desired to complement the Global Navigation Satellite System (GNSS) for land vehicles, for which odometer-aided inertial navigation system (ODO/INS) is a classical solution. In this…

This paper presents a novel approach to vehicle positioning that operates without reliance on the global navigation satellite system (GNSS). Traditional GNSS approaches are vulnerable to interference in certain environments, rendering them…

Micro Aerial Vehicles (MAVs) rely on onboard attitude and position sensors for autonomous flight. Due to their size, weight, and power (SWaP) constraints, most modern MAVs use miniaturized inertial measurement units (IMUs) to provide…

We present a new method to combine several rigidly connected but physically separated IMUs through a weighted average into a single virtual IMU (VIMU). This has the benefits of (i) reducing process noise through averaging, and (ii) allowing…

We analyze theoretically the sensitivity of accelerometry and rotation sensing with a point source interferometer employing large momentum transfer (LMT) and present a design of an inertial measurement unit (IMU) that can measure rotation…

3D pose estimation offers the opportunity for fast, non-invasive, and accurate motion analysis. This is of special interest also for clinical use. Currently, motion capture systems are used, as they offer robust and precise data…