Related papers: Tracking the Vector Acceleration with a Hybrid Qua…
Acceleration sensors built into smartphones, i-pads or tablets can conveniently be used in the Physics laboratory. By virtue of the equivalence principle, a sensor fixed in a non-inertial reference frame cannot discern between a…
Triaxial vibration sensor are widely used used in various application. Recently, low-cost sensors based on micro electro mechanical system (MEMS) technology are also becoming more widely adopted. However, their measurement accuracy can be…
Accurate velocity estimation is critical in mobile robotics, particularly for driver assistance systems and autonomous driving. Wheel odometry fused with Inertial Measurement Unit (IMU) data is a widely used method for velocity estimation;…
A Bayesian zero-velocity detector for foot-mounted inertial navigation systems is presented. The detector extends existing zero-velocity detectors based on the likelihood-ratio test, and allows, possibly time-dependent, prior information…
This paper proposes new algorithms for attitude estimation and control based on fused inertial vector measurements using linear complementary filters principle. First, n-order direct and passive complementary filters combined with TRIAD…
The fusion of visual and inertial measurements is becoming more and more popular in the robotics community since both sources of information complement well each other. However, in order to perform this fusion, the biases of the Inertial…
Attitude estimation using scalar measurements, corresponding to partial vectorial observations, arises naturally when inertial vectors are not fully observed but only measured along specific body-frame vectors. Such measurements arise in…
Relevant metrological scenarios involve the simultaneous estimation of multiple parameters. The fundamental ingredient to achieve quantum-enhanced performances is based on the use of appropriately tailored quantum probes. However, reaching…
Autonomous underwater vehicles (AUVs) are increasingly used in many applications such as oceanographic surveys, mapping, and inspection of underwater structures. To successfully complete those tasks, a Doppler velocity log (DVL) and an…
The precise estimation of the gravitational acceleration is important for various disciplines. We consider making such an estimation using quantum optics. A Mach-Zehnder interferometer in an "optical fountain" type arrangement is considered…
Reliable detection and tracking of surrounding objects are indispensable for comprehensive motion prediction and planning of autonomous vehicles. Due to the limitations of individual sensors, the fusion of multiple sensor modalities is…
We show that the gravitational acceleration can be measured with the matter-wave Ramsey interferometry, by using a nitrogen-vacancy center coupled to a nano-mechanical resonator. We propose two experimental methods to realize the…
There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…
We present the first direct measurement of the gravity-field curvature based on three conjugated atom interferometers. Three atomic clouds launched in the vertical direction are simultaneously interrogated by the same atom interferometry…
We show that a two-level atom resonantly coupled to one of the modes of a cavity field can be used as a sensitive tool to measure the proper acceleration of a combined atom-cavity system. To achieve it we investigate the relation between…
Quantum states and measurements exhibit wave-like --- continuous, or particle-like --- discrete, character. Hybrid discrete-continuous photonic systems are key to investigating fundamental quantum phenomena, generating superpositions of…
Autonomous unmanned aerial vehicles (UAVs) that can execute aggressive (i.e., high-speed and high-acceleration) maneuvers have attracted significant attention in the past few years. This paper focuses on accurate tracking of aggressive…
Quantum sensors represent a new generation of sensors with improved precision, accuracy, stability, and robustness to environmental effects compared to their classical predecessors. After decades of laboratory development, several types of…
In this paper we propose a novel approach to tracking by detection that can exploit both cameras as well as LIDAR data to produce very accurate 3D trajectories. Towards this goal, we formulate the problem as a linear program that can be…
The rigid-body attitude tracking using vector and biased gyro measurements with unknown inertia matrix is studied in this note. First, a gyro-bias observer with global exponential stability is designed. Then, an attitude tracking controller…