Related papers: Exploring the Accuracy Potential of IMU Preintegra…
We present a system for the boresighting of sensors using inertial measurement devices as the basis for developing a range of dynamic real-time sensor fusion applications. The proof of concept utilizes a COTS FPGA platform for sensor fusion…
Inertial-aided systems require continuous motion excitation among other reasons to characterize the measurement biases that will enable accurate integration required for localization frameworks. This paper proposes the use of informative…
Accurate and smooth global navigation satellite system (GNSS) positioning for pedestrians in urban canyons is still a challenge due to the multipath effects and the non-light-of-sight (NLOS) receptions caused by the reflections from…
Low-cost inertial navigation systems (INS) are prone to sensor biases and measurement noise, which lead to rapid degradation of navigation accuracy during global positioning system (GPS) outages. To address this challenge and improve…
Inertial measurement units (IMUs) increasingly function as a basic component of wearable sensor network (WSN)systems. IMU-based joint angle estimation (JAE) is a relatively typical usage of IMUs, with extensive applications. However, the…
Modern autonomous vehicles and robots utilize versatile sensors for localization and mapping. The fidelity of these maps is paramount, as an accurate environmental representation is a prerequisite for stable and precise localization. Factor…
Structure from motion algorithms have an inherent limitation that the reconstruction can only be determined up to the unknown scale factor. Modern mobile devices are equipped with an inertial measurement unit (IMU), which can be used for…
Probabilistic graphical models are powerful tools which allow us to formalise our knowledge about the world and reason about its inherent uncertainty. There exist a considerable number of methods for performing inference in probabilistic…
In recent years, 3D mapping for indoor environments has undergone considerable research and improvement because of its effective applications in various fields, including robotics, autonomous navigation, and virtual reality. Building an…
Inertial Odometry (IO) enables real-time localization using only acceleration and angular velocity measurements from an Inertial Measurement Unit (IMU), making it a promising solution for localization in consumer-grade applications.…
In this paper, we propose an algorithm to combine multiple cheap Inertial Measurement Unit (IMU) sensors to calculate 3D-orientations accurately. Our approach takes into account the inherent and non-negligible systematic error in the…
Recently, map representations based on radiance fields such as 3D Gaussian Splatting and NeRF, which excellent for realistic depiction, have attracted considerable attention, leading to attempts to combine them with SLAM. While these…
This study presents an enhanced proprioceptive method for accurate shape estimation of soft robots using only off-the-shelf sensors, ensuring cost-effectiveness and easy applicability. By integrating inertial measurement units (IMUs) with…
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…
This paper presents a new method for jointly calibrating a magnetometer and inertial measurement unit (IMU), focusing on balancing calibration accuracy and computational efficiency. The proposed method is based on a maximum a posteriori…
Accurate and robust initialization is essential for Visual-Inertial Odometry (VIO), as poor initialization can severely degrade pose accuracy. During initialization, it is crucial to estimate parameters such as accelerometer bias, gyroscope…
In this paper, we study in-depth the problem of online self-calibration for robust and accurate visual-inertial state estimation. In particular, we first perform a complete observability analysis for visual-inertial navigation systems…
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…
The recently introduced matrix group SE2(3) provides a 5x5 matrix representation for the orientation, velocity and position of an object in the 3-D space, a triplet we call "extended pose". In this paper we build on this group to develop a…
We present a robust system for state estimation that fuses measurements from multiple lidars and inertial sensors with GNSS data. To initiate the method, we use the prior GNSS pose information. We then perform incremental motion in…