Related papers: Exploring the Accuracy Potential of IMU Preintegra…
This paper presents a convolutional neural network based foot motion tracking with only six-axis Inertial-Measurement-Unit (IMU) sensor data. The presented approach can adapt to various walking conditions by adopting differential and window…
Recently, multi-sensors fusion has achieved significant progress in the field of automobility to improve navigation and position performance. As the prerequisite of the fusion algorithm, the demand for the extrinsic calibration of…
Reconstructing a 3D scene from unordered images is pivotal in computer vision and robotics, with applications spanning crowd-sourced mapping and beyond. While global Structure-from-Motion (SfM) techniques are scalable and fast, they often…
This paper develops, implements, and validates a powerful single-antenna carrier-phase-based test to detect Global Navigation Satellite Systems (GNSS) spoofing attacks on ground vehicles equipped with a low-cost inertial measurement unit…
This paper presents a novel framework to realize proprioception and closed-loop control for soft manipulators. Deformations with large elongation and large bending can be precisely predicted using geometry-based sensor signals obtained from…
Building upon the theory of Kalman Filtering on Lie Groups, this paper describes an Extended Kalman Filter and Smoother for Loosely Coupled Integration of GNSS/INS tailored for post-processing applications. The approach employs a dynamic…
Inertial Measurement Unit (IMU) sensors, including accelerometers, gyroscopes, and magnetometers, are used to estimate the orientation of mobile devices. However, indoor magnetic fields are often distorted, causing the magnetometer's…
Simultaneous Transmitting and Reflecting Reconfigurable Intelligent Surfaces (STAR-RISs) are being explored for sixth-generation (6G) wireless networks. A promising configuration for their deployment is within cell-free massive…
Autonomous robotic systems heavily rely on environment knowledge to safely navigate. For search & rescue, a flying robot requires robust real-time perception, enabled by complementary sensors. IMU data constrains acceleration and rotation,…
Factor graph is a graph representing the factorization of a probability distribution function, and has been utilized in many autonomous machine computing tasks, such as localization, tracking, planning and control etc. We are developing an…
Recently, the emergence of 3D Gaussian Splatting (3DGS) has drawn significant attention in the area of 3D map reconstruction and visual SLAM. While extensive research has explored 3DGS for indoor trajectory tracking using visual sensor…
Autonomous vehicle control is growing in availability for new vehicles and there is a potential need to retrofit older vehicles with this capability. Additionally, automotive cybersecurity has become a significant concern in recent years…
We describe an optical simulation program that models a complete, coupled-cavity interferometer like those used by the Laser Interferometer Gravitational-Wave Observatory (LIGO) Project. A wide variety of interferometer deformations can be…
With the prevalence of wearable devices, inertial measurement unit (IMU) data has been utilized in monitoring and assessment of human mobility such as human activity recognition (HAR). Training deep neural network (DNN) models for these…
This letter proposes a reactive navigation strategy for recovering the altitude, translational velocity and orientation of Micro Aerial Vehicles. The main contribution lies in the direct and tight fusion of Inertial Measurement Unit (IMU)…
The factor graph (FG) based iterative detection is considered an effective and practical method for multiple-input and multiple-out (MIMO), particularly massive MIMO (m-MIMO) systems. However, the convergence analysis for the FG-based…
Event cameras, as bio-inspired sensors, are asynchronously triggered with high-temporal resolution compared to intensity cameras. Recent work has focused on fusing the event measurements with inertial measurements to enable ego-motion…
Many smartphone applications use inertial measurement units (IMUs) to sense movement, but the use of these sensors for pedestrian localization can be challenging due to their noise characteristics. Recent data-driven inertial odometry…
Relative State Estimation perform mutually localization between two mobile agents undergoing six-degree-of-freedom motion. Based on the principle of circular motion, the estimation accuracy is sensitive to nonlinear rotations of the…
Generally, high-level features provide more geometrical information compared to point features, which can be exploited to further constrain motions. Planes are commonplace in man-made environments, offering an active means to reduce drift,…