Related papers: PilotEar: Enabling In-ear Inertial Navigation
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…
In this article, a tutorial introduction to visual-inertial navigation(VIN) is presented. Visual and inertial perception are two complementary sensing modalities. Cameras and inertial measurement units (IMU) are the corresponding sensors…
Inertial navigation and attitude initialization in polar areas become a hot topic in recent years in the navigation community, as the widely-used navigation mechanization of the local level frame encounters the inherent singularity when the…
We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions…
Underwater visual-inertial navigation is challenging due to the poor visibility and presence of outliers in underwater environments. The navigation performance is closely related to outlier detection and elimination. Existing methods assume…
Learning-based inertial odometry has achieved remarkable progress in pedestrian navigation. However, extending these methods to quadruped robots remains challenging due to their distinct and highly dynamic motion patterns. Models that…
This work reviews the topic of rotation sensing with compact cold atom interferometers. A representative set of compact free-falling cold atom gyroscopes is considered because, in different respects, they establish a rotation-measurement…
Radar ensures robust sensing capabilities in adverse weather conditions, yet challenges remain due to its high inherent noise level. Existing radar odometry has overcome these challenges with strategies such as filtering spurious points,…
By the year 2023, the global population of individuals with impaired vision has surpassed 220 million. People with impaired vision will find it difficult while finding path or avoiding obstacles, and must ask for auxiliary tools for help.…
Compared to other biometrics, gait is difficult to conceal and has the advantage of being unobtrusive. Inertial sensors, such as accelerometers and gyroscopes, are often used to capture gait dynamics. These inertial sensors are commonly…
To address the challenges of localization drift and perception-planning coupling in unmanned aerial vehicles (UAVs) operating in open-top scenarios (e.g., collapsed buildings, roofless mazes), this paper proposes EAROL, a novel framework…
Voice interfaces are increasingly used in high stakes domains such as mobile banking, smart home security, and hands free healthcare. Meanwhile, modern generative models have made high quality voice forgeries inexpensive and easy to create,…
In this work, we propose a novel method for performing inertial aided navigation, by using deep neural networks (DNNs). To date, most DNN inertial navigation methods focus on the task of inertial odometry, by taking gyroscope and…
Autonomous target tracking with quadrotors has wide applications in many scenarios, such as cinematographic follow-up shooting or suspect chasing. Target motion prediction is necessary when designing the tracking planner. However, the…
Land vehicle navigation based on inertial navigation system (INS) and odometers is a classical autonomous navigation application and has been extensively studied over the past several decades. In this work, we seriously analyze the error…
Inertial Velocity-Aided Attitude (VAA), the estimation of the velocity and attitude of a vehicle using gyroscope, accelerometer, and inertial-frame velocity (e.g. GPS velocity) measurements, is an important problem in the control of…
Body sounds provide rich information about the state of the human body and can be useful in many medical applications. Auscultation, the practice of listening to body sounds, has been used for centuries in respiratory and cardiac medicine…
In motion tracking of connected multi-body systems Inertial Measurement Units (IMUs) are used in a wide variety of applications, since they provide a low-cost easy-to-use method for orientation estimation. However, in indoor environments or…
Drift is a significant issue that undermines the reliability of gas sensors. This paper introduces a probabilistic model to distinguish between environmental variation and instrumental drift, using low-cost non-dispersive infrared (NDIR)…
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,…