Related papers: PilotEar: Enabling In-ear Inertial Navigation
Successful navigation of a rigid-body traveling with six degrees of freedom (6 DoF) requires accurate estimation of attitude , position, and linear velocity. The true navigation dynamics are highly nonlinear and are modeled on the matrix…
In this paper, we perform a thorough observability analysis for linearized inertial navigation systems (INS) aided by exteroceptive range and/or bearing sensors (such as cameras, LiDAR and sonars) with different geometric features (points,…
High precision interferometers such as gravitational-wave detectors require complex seismic isolation systems in order to decouple the experiment from unwanted ground motion. Improved inertial sensors for active isolation potentially…
Quantum technology based on cold-atom interferometers is showing great promise for fields such as inertial sensing and fundamental physics. However, the best precision achievable on Earth is limited by the free-fall time of the atoms, and…
We propose a novel approach to multimodal sensor fusion for Ambient Assisted Living (AAL) which takes advantage of learning using privileged information (LUPI). We address two major shortcomings of standard multimodal approaches, limited…
In this paper, we propose a new strategy for learning inertial robotic navigation models. The proposed strategy enhances the generalisability of end-to-end inertial modelling, and is aimed at wheeled robotic deployments. Concretely, the…
Global Navigation Satellite Systems (GNSS) aided Inertial Navigation System (INS) is a fundamental approach for attaining continuously available absolute vehicle position and full state estimates at high bandwidth. For transportation…
Recently, the progress in the radar sensing technology consisting in the miniaturization of the packages and increase in measuring precision has drawn the interest of the robotics research community. Indeed, a crucial task enabling autonomy…
The measurement of the pulse wave has proven to be a vital tool in medical diagnosis. Whereby most pulse wave measurements are carried out at extremities, this work proposes a system for measuring the pulse wave and the Pulse Arrival Time…
Inertial and Doppler velocity log sensors are commonly used to provide the navigation solution for autonomous underwater vehicles (AUV). To this end, a nonlinear filter is adopted for the fusion task. The filter's process noise covariance…
Future health systems require the means to assess and track the neural and physiological function of a user over long periods of time and in the community. Human body responses are manifested through multiple modalities, such as the…
A drift mode accelerometer is a precision device that overcomes the much of the acceleration noise and readout dynamic range limitations of traditional electrostatic accelerometers. It has the potential of achieving acceleration noise…
This article proposes an inertial navigation algorithm intended to lower the negative consequences of the absence of GNSS (Global Navigation Satellite System) signals on the navigation of autonomous fixed wing low SWaP (Size, Weight, and…
Motion capture from sparse inertial sensors has shown great potential compared to image-based approaches since occlusions do not lead to a reduced tracking quality and the recording space is not restricted to be within the viewing frustum…
Autonomous mobile robots are widely used for navigation, transportation, and inspection tasks indoors and outdoors. In practical situations of limited satellite signals or poor lighting conditions, navigation depends only on inertial…
Autonomous underwater vehicles (AUV) are commonly used in many underwater applications. Recently, the usage of multi-rotor unmanned autonomous vehicles (UAV) for marine applications is receiving more attention in the literature. Usually,…
Consider an assistive system that guides visually impaired users through speech and haptic feedback to their destination. Existing robotic and ubiquitous navigation technologies (e.g., portable, ground, or wearable systems) often operate in…
Human-in-the-loop (HITL) UAV operation is essential in complex and safety-critical aerial surveying environments, where human operators provide navigation intent while onboard autonomy must maintain accurate and robust state estimation. A…
Foot-mounted inertial sensors become popular in many indoor or GPS-denied applications, including but not limited to medical monitoring, gait analysis, soldier and first responder positioning. However, the foot-mounted inertial navigation…
In monocular vision systems, lack of knowledge about metric distances caused by the inherent scale ambiguity can be a strong limitation for some applications. We offer a method for fusing inertial measurements with monocular odometry or…