Related papers: Deep Learning for Inertial Sensor Alignment
The inertial navigation system (INS) has been widely used to provide self-contained and continuous motion estimation in intelligent transportation systems. Recently, the emergence of chip-level inertial sensors has expanded the relevant…
We present IF-D, a large-scale inertial dataset designed to enable self-supervised and foundational learning for IMU time series. IF-D comprises continuous, long-duration multichannel recordings (accelerometer, gyroscope, magnetometer)…
The combination of ultrawideband (UWB) radios and inertial measurement units (IMU) can provide accurate positioning. To ensure reliable communication, the radios are generally mounted at the extremities of a mobile system whereas the IMUs…
Inertial motion analysis is having a growing interest during the last decades due to its advantages over classical optical systems. The technological solution based on inertial measurement units allows the measurement of movements in daily…
Inertial-based navigation refers to the navigation methods or systems that have inertial information or sensors as the core part and integrate a spectrum of other kinds of sensors for enhanced performance. Through a series of papers, the…
The capability to extract task specific, semantic information from raw sensory data is a crucial requirement for many applications of mobile robotics. Autonomous inspection of critical infrastructure with Unmanned Aerial Vehicles (UAVs),…
We aim to enable robots to visually localize a target person through the aid of an additional sensing modality -- the target person's 3D inertial measurements. The need for such technology may arise when a robot is to meet person in a crowd…
By utilizing global navigation satellite system (GNSS) position and velocity measurements, the fusion between the GNSS and the inertial navigation system provides accurate and robust navigation information. When considering land…
Freehand 3D ultrasound (US) has important clinical value due to its low cost and unrestricted field of view. Recently deep learning algorithms have removed its dependence on bulky and expensive external positioning devices. However,…
The ability to sense, localize, and estimate the 3D position and orientation of the human body is critical in virtual reality (VR) and extended reality (XR) applications. This becomes more important and challenging with the deployment of…
We present a method of extrinsic calibration for a system of multiple inertial measurement units (IMUs) that estimates the relative pose of each IMU on a rigid body using only measurements from the IMUs themselves, without the need to…
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…
We present a novel algorithm for online, real-time orientation estimation. Our algorithm integrates gyroscope data and corrects the resulting orientation estimate for integration drift using accelerometer and magnetometer data. This…
Accurate information about the location and orientation of a camera in mobile devices is central to the utilization of location-based services (LBS). Most of such mobile devices rely on GPS data but this data is subject to inaccuracy due to…
In this paper, a machine learning based approach is introduced to estimate pendubot angular position from its captured images. Initially, a baseline algorithm is introduced to estimate the angle using conventional image processing…
Object-relative mobile robot navigation is essential for a variety of tasks, e.g. autonomous critical infrastructure inspection, but requires the capability to extract semantic information about the objects of interest from raw sensory…
An Inertial Navigation System (INS) is a system that integrates acceleration and angular velocity readings from an Inertial Measurement Unit (IMU), along with other sensors such as Global Navigation Satellite Systems (GNSS) position, GNSS…
Mobile robot positioning, mapping, and navigation systems generally employ an inertial measurement unit (IMU) to obtain the acceleration and angular velocity of the robot. However, errors in the internal and external parameters of an IMU…
Sparse wearable inertial measurement units (IMUs) have gained popularity for estimating 3D human motion. However, challenges such as pose ambiguity, data drift, and limited adaptability to diverse bodies persist. To address these issues, we…
The emergence of digital technologies such as smartphones in healthcare applications have demonstrated the possibility of developing rich, continuous, and objective measures of multiple sclerosis (MS) disability that can be administered…