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Navigation in Global Positioning Systems (GPS)-denied environments requires robust estimators reliant on fusion of inertial sensors able to estimate rigid-body's orientation, position, and linear velocity. Ultra-wideband (UWB) and Inertial…
Traditional methods to achieve high localization accuracy with tactile sensors usually use a matrix of miniaturized individual sensors distributed on the area of interest. This approach usually comes at a price of increased complexity in…
Sub-nanometer displacement detection lays the solid foundation for critical applications in modern metrology. In-plane displacement sensing, however, is mainly dominated by the detection of differential photocurrent signals from…
The measurement of extremely small displacements is of utmost importance, both for fundamental studies [1-4], and practical applications [5-7]. One way to estimate a small displacement is to measure the Doppler shift generated in light…
We present our the construction of an atom interferometer for inertial sensing in microgravity, as part of the I.C.E. (\textit{Interf\'{e}rom\'{e}trie Coh\'{e}rente pour l'Espace}) collaboration. On-board laser systems have been developed…
Extending the sensitivity of terrestrial gravitational-wave detectors below 20 Hz is a long-standing challenge, limited by ground motion and inertial sensing noise. In this letter, we demonstrate ultra-high-vacuum compatible inertial…
In this paper, we analyze the orientation estimation problem using inertial measurement units. Many estimation algorithms suffer degraded performance when accelerations other than gravity affect the accelerometer. We show that linear…
This paper deals with the simultaneous estimation of the attitude, position and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on $SO(3)\times \mathbb{R}^{15}$ relying on body-frame…
Personal devices have adopted diverse authentication methods, including biometric recognition and passcodes. In contrast, headphones have limited input mechanisms, depending solely on the authentication of connected devices. We present…
Velocity estimation is a core component of state estimation and sensor fusion pipelines in mobile robotics and autonomous ground systems, directly affecting navigation accuracy, control stability, and operational safety. In conventional…
Autonomous driving systems are highly dependent on sensors like cameras, LiDAR, and inertial measurement units (IMU) to perceive the environment and estimate their motion. Among these sensors, perception-based sensors are not protected from…
As a typical application of photon momentum transfer, optical levitation systems are known for their ideal isolation from mechanical dissipation and thermal noise. These characters offer extraordinary potential for acceleration precision…
Modern optical coherence tomography (OCT) devices provide volumetric images with micrometer-scale spatial resolution and a temporal resolution beyond video rate. In this work, we analyze an OCT-based prototypical tracking system which…
Future Extremely Large Telescopes (ELTs) will require advances in Adaptive Optics (AO) systems to fully realize their potential. In addition to separate, dedicated wavefront sensors, it is recognized that wavefront sensing within the…
Atom interferometry has become one of the most powerful technologies for precision measurements. To develop simple, precise, and versatile atom interferometers for inertial sensing, we demonstrate an atom interferometer measuring…
Optical rotation, a form of optical activity, is a phenomenon employed in various metrological applications and industries including chemical, food, and pharmaceutical. In naturally-occurring, as well as structured media, the integrated…
Low-frequency magnetic fields carry vital information for neuroscience, navigation, and Earth science. However, they are generally weak, making it challenging to measure them with compact, room-temperature magnetometers. To overcome this…
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,…
Laser triangulation sensors are widely used in industry for surface inspection due to simple setup, micron precision and low cost. Conventional laser triangulation methods only enable axial distance measurement limiting further…
The design of navigation observers able to simultaneously estimate the position, linear velocity and orientation of a vehicle in a three-dimensional space is crucial in many robotics and aerospace applications. This problem was mainly dealt…