Related papers: PilotEar: Enabling In-ear Inertial Navigation
Spatially inhomogeneous magnetic fields offer a valuable, non-visual information source for positioning. Among systems leveraging this, magnetic field-based simultaneous localization and mapping (SLAM) systems are particularly attractive.…
Many robotic tasks rely on the accurate localization of moving objects within a given workspace. This information about the objects' poses and velocities are used for control,motion planning, navigation, interaction with the environment or…
Safe navigation for the visually impaired individuals remains a critical challenge, especially concerning head-level obstacles, which traditional mobility aids often fail to detect. We introduce GuideTouch, a compact, affordable, standalone…
Fully autonomous mobile robots have a multitude of potential applications, but guaranteeing robust navigation performance remains an open research problem. For many tasks such as repeated infrastructure inspection, item delivery, or…
Magnetic navigation offers wireless control over magnetic objects, which has important medical applications, such as targeted drug delivery and minimally invasive surgery. Magnetic navigation systems are categorized into systems using…
This paper presents a novel method for visual-inertial odometry. The method is based on an information fusion framework employing low-cost IMU sensors and the monocular camera in a standard smartphone. We formulate a sequential inference…
Sensitive and accurate rotation sensing is a critical requirement for applications such as inertial navigation [1], north-finding [2], geophysical analysis [3], and tests of general relativity [4]. One effective technique used for rotation…
Applications of inertial measurement units are extremely diverse, and are expected to see a further increase in number due to current trends in robotics as well as recent advances in Micro Electromechanical sensors (MEMS). The traditional…
Since the number of cars has grown rapidly in recent years, driving safety draws more and more public attention. Drowsy driving is one of the biggest threatens to driving safety. Therefore, a simple but robust system that can detect drowsy…
Odometry in adverse weather conditions, such as fog, rain, and snow, presents significant challenges, as traditional vision and LiDAR-based methods often suffer from degraded performance. Radar-Inertial Odometry (RIO) has emerged as a…
Humanoid and legged robots interact with the environment through intermittent contacts, making accurate motion estimation fundamentally dependent on reasoning about contact dynamics. However, standard sensing pipelines-whether based on…
We present an approach for radar-inertial odometry which uses a continuous-time framework to fuse measurements from multiple automotive radars and an inertial measurement unit (IMU). Adverse weather conditions do not have a significant…
Millimeter-wave radar provides robust perception in visually degraded environments. However, radar-inertial state estimation is inherently susceptible to drift. Because radar yields only sparse, body-frame velocity measurements, it provides…
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…
Advances in micro-electro-mechanical (MEMS) techniques enable inertial measurements units (IMUs) to be small, cheap, energy efficient, and widely used in smartphones, robots, and drones. Exploiting inertial data for accurate and reliable…
As one of the most popular micro-mobility options, e-scooters are spreading in hundreds of big cities and college towns in the US and worldwide. In the meantime, e-scooters are also posing new challenges to traffic safety. In general,…
Jamming devices disrupt signals from the global navigation satellite system (GNSS) and pose a significant threat by compromising the reliability of accurate positioning. Consequently, the detection and localization of these interference…
While quantum accelerometers sense with extremely low drift and low bias, their practical sensing capabilities face two limitations compared with classical accelerometers: a lower sample rate due to cold atom interrogation time, and a…
Ear EEG based driver fatigue monitoring systems have the potential to provide a seamless, efficient, and feasibly deployable alternative to existing scalp EEG based systems, which are often cumbersome and impractical. However, the…
Gait analysis using wearable devices has advantages over non-wearable devices when it comes to portability and accessibility. However, non-wearable devices have consistently shown superior performance in terms of the gait information they…