Related papers: Exploring the Accuracy Potential of IMU Preintegra…
We present a real-time monocular thermal-inertial odometry system designed for high-velocity, GPS-denied flight on embedded hardware. The system fuses measurements from a FLIR Boson+ 640 longwave infrared camera, a high-rate IMU, a laser…
Inertial navigation applications are usually referenced to a rotating frame. Consideration of the navigation reference frame rotation in the inertial navigation algorithm design is an important but so far less seriously treated issue,…
Initializing the state of a sensorized platform can be challenging, as a limited set of measurements often provide low-informative constraints that are in addition highly non-linear. This may lead to poor initial estimates that may converge…
Optimization of Reconfigurable Intelligent Surfaces (RIS) via a previously introduced method is effective, but time-consuming, because multiport impedance or scatter matrices are required for each transmitter and receiver position, which…
We present a method of extrinsic calibration for a system of multiple inertial measurement units (IMUs) that estimates the relative pose of each IMU on a rigid body using only measurements from the IMUs themselves, without the need to…
The line-of-sight structure of the Galactic magnetic field (GMF) can be studied using Faraday rotation measure (RM) grids. We analyze how the choice of interpolation kernel can affect the accuracy and reliability of reconstructed RM maps.…
A tracking system that will be used for Augmented Reality (AR) applications has two main requirements: accuracy and frame rate. The first requirement is related to the performance of the pose estimation algorithm and how accurately the…
This paper presents a methodology to predict metric depth from monocular RGB images and an inertial measurement unit (IMU). To enable collision avoidance during autonomous flight, prior works either leverage heavy sensors (e.g., LiDARs or…
The common approach to inertial sensor calibration for navigation purposes has been to model the stochastic error signals of individual sensors independently, whether as components of a single inertial measurement unit (IMU) in different…
We describe the characterization and removal of noise present in the Inertial Measurement Unit (IMU) MPU-6050. This IMU was initially used in an attitude sensor (AS) developed in-house, and subsequently implemented in a pointing and…
Numerous linear and non-linear data-detection and precoding algorithms for wideband massive multi-user (MU) multiple-input multiple-output (MIMO) wireless systems that rely on orthogonal frequency-division multiplexing (OFDM) or…
Inertial localization is particularly valuable in GPS-denied environments such as indoors. However, localization using only Inertial Measurement Units (IMUs) suffers from drift caused by motion-process noise and sensor biases. This paper…
Road surface classification (RSC) is a key enabler for environment-aware predictive maintenance systems. However, existing RSC techniques often fail to generalize beyond narrow operational conditions due to limited sensing modalities and…
Inertial navigation computation is to acquire the attitude, velocity and position information of a moving body by integrating inertial measurements from gyroscopes and accelerometers. Over half a century has witnessed great efforts in…
Real-time object pose estimation and tracking is challenging but essential for emerging augmented reality (AR) applications. In general, state-of-the-art methods address this problem using deep neural networks which indeed yield…
Combining Global Navigation Satellite System (GNSS) with visual and inertial sensors can give smooth pose estimation without drifting. The fusion system gradually degrades to Visual-Inertial Odometry (VIO) with the number of satellites…
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…
Yen et al. (2012) advanced a direct approach for the calculation of self-gravitational force to second order accuracy based on uniform grid discretization. This method improves the accuracy of N-body calculation by using exact integration…
Wireless localization of permanent magnets enables occlusion-free guidance for medical interventions, yet its practical accuracy is fundamentally limited by two coupled challenges: the poor observability of conventional planar sensor arrays…
Precise, consistent, and reliable positioning is crucial for a multitude of uses. In order to achieve high precision global positioning services, multi-sensor fusion techniques, such as the Global Navigation Satellite System (GNSS)/Inertial…