Related papers: Fast IMU-based Dual Estimation of Human Motion and…
In simultaneous localization and mapping (SLAM), image feature point matching process consume a lot of time. The capacity of low-power systems such as embedded systems is almost limited. It is difficult to ensure the timely processing of…
Advances in machine learning and wearable sensors offer new opportunities for capturing and analyzing human movement outside specialized laboratories. Accurate assessment of human movement under real-world conditions is essential for…
Human Activity Recognition (HAR) based on wearable inertial sensors plays a critical role in remote health monitoring. In patients with movement disorders, the ability to detect abnormal patient movements in their home environments can…
This paper introduces a new approach to 3-D position estimation from acceleration data, i.e., a 3-D motion tracking system having a small size and low-cost magnetic and inertial measurement unit (MIMU) composed by both a digital compass and…
This paper presents a novel online capable method for simultaneous estimation of human motion in terms of segment orientations and positions along with sensor-to-segment calibration parameters from inertial sensors attached to the body. In…
Legged robots require knowledge of pose and velocity in order to maintain stability and execute walking paths. Current solutions either rely on vision data, which is susceptible to environmental and lighting conditions, or fusion of…
This paper presents a control interface to translate the residual body motions of individuals living with severe disabilities, into control commands for body-machine interaction. A custom, wireless, wearable multi-sensor network is used to…
The miniaturization of inertial measurement units (IMUs) facilitates their widespread use in a growing number of application domains. Orientation estimation is a prerequisite for most further data processing steps in inertial motion…
Markerless motion capture enables the tracking of human motion without requiring physical markers or suits, offering increased flexibility and reduced costs compared to traditional systems. However, these advantages often come at the…
In recent years, 3D mapping for indoor environments has undergone considerable research and improvement because of its effective applications in various fields, including robotics, autonomous navigation, and virtual reality. Building an…
We propose a probabilistic filtering method which fuses joint measurements with depth images to yield a precise, real-time estimate of the end-effector pose in the camera frame. This avoids the need for frame transformations when using it…
In this paper, we propose a novel dynamic calibration method for sparse inertial motion capture systems, which is the first to break the restrictive absolute static assumption in IMU calibration, i.e., the coordinate drift RG'G and…
Autonomous mobile robots operating in novel environments depend critically on accurate state estimation, often utilizing visual and inertial measurements. Recent work has shown that an invariant formulation of the extended Kalman filter…
Inertial Measurement Unit (IMU) sensors are widely employed for Human Activity Recognition (HAR) due to their portability, energy efficiency, and growing research interest. However, a significant challenge for IMU-HAR models is achieving…
Even though it is well known that physical exercises have numerous emotional and physical health benefits, maintaining a regular exercise routine is quite challenging. Fortunately, there exist technologies that promote physical activity.…
Inertial motion capture is a promising approach for capturing motion outside the laboratory. However, as one major drawback, most of the current methods require different quantities to be calibrated or computed offline as part of the setup…
Human activity recognition (HAR) is often limited by the scarcity of labeled datasets due to the high cost and complexity of real-world data collection. To mitigate this, recent work has explored generating virtual inertial measurement unit…
Sensor-based human activity recognition (HAR) is now a research hotspot in multiple application areas. With the rise of smart wearable devices equipped with inertial measurement units (IMUs), researchers begin to utilize IMU data for HAR.…
In this paper we propose a novel accurate method for dead-reckoning of wheeled vehicles based only on an Inertial Measurement Unit (IMU). In the context of intelligent vehicles, robust and accurate dead-reckoning based on the IMU may prove…
This paper addresses accurate pose estimation (position, velocity, and orientation) for a rigid body using a combination of generic inertial-frame and/or body-frame measurements along with an Inertial Measurement Unit (IMU). By embedding…