Related papers: Attitude-Estimation-Free GNSS and IMU Integration
Visual SLAM is a cornerstone technique in robotics, autonomous driving and extended reality (XR), yet classical systems often struggle with low-texture environments, scale ambiguity, and degraded performance under challenging visual…
An algorithm based on Artificial Neural Networks is proposed in this paper to improve the accuracy of Inertial Navigation System (INS)/ Global Navigation Satellite System (GNSS) integrated navigation during the absence of GNSS signals. The…
Foot-mounted inertial sensors become popular in many indoor or GPS-denied applications, including but not limited to medical monitoring, gait analysis, soldier and first responder positioning. However, the foot-mounted inertial navigation…
The paper presents a new observer for tilt estimation of a 3-D non-rigid pendulum. The system can be seen as a multibody robot attached to the environment with a ball joint. There is no sensor for the joint position of the sensor. The…
High-precision vehicle positioning is key to the implementation of modern driving systems in urban environments. Global Navigation Satellite System (GNSS) carrier phase measurements can provide millimeter- to centimeter-level positioning,…
This paper presents an extension of the DRIFT invariant state estimation framework, enabling robust fusion of GPS and IMU data for accurate pose and heading estimation. Originally developed for testing and usage on a marine autonomous…
A reliable pose estimator robust to environmental disturbances is desirable for mobile robots. To this end, inertial measurement units (IMUs) play an important role because they can perceive the full motion state of the vehicle…
The visual SLAM method is widely used for self-localization and mapping in complex environments. Visual-inertia SLAM, which combines a camera with IMU, can significantly improve the robustness and enable scale weak-visibility, whereas…
This paper develops, implements, and validates a powerful single-antenna carrier-phase-based test to detect Global Navigation Satellite Systems (GNSS) spoofing attacks on ground vehicles equipped with a low-cost inertial measurement unit…
As cameras and inertial sensors are becoming ubiquitous in mobile devices and robots, it holds great potential to design visual-inertial navigation systems (VINS) for efficient versatile 3D motion tracking which utilize any (multiple)…
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…
Algorithms for state estimation of humanoid robots usually assume that the feet remain flat and in a constant position while in contact with the ground. However, this hypothesis is easily violated while walking, especially for human-like…
In this work we present more comprehensive evaluations on our airborne Gimbal mounted inertial measurement unit (IMU) signal simulator which also considers flight dynamic model (FDM). A flexible IMU signal simulator is an enabling tool in…
In this paper, we propose a method for online estimation of the robot's posture. Our method uses von Mises and Bingham distributions as probability distributions of joint angles and 3D orientation, which are used in directional statistics.…
Inertial sensors based on micro-electromechanical systems (MEMS) technology, such as accelerometers and angular rate sensors, are cost-effective solutions used in inertial navigation systems in a broad spectrum of applications that estimate…
Currently, visual odometry and LIDAR odometry are performing well in pose estimation in some typical environments, but they still cannot recover the localization state at high speed or reduce accumulated drifts. In order to solve these…
This paper investigates the problem of continuous attitude estimation on $SO(3)$ using continuous angular velocity and linear acceleration measurements as well as intermittent linear velocity and inertial vector measurements. First, we…
In order to make robots more useful in a variety of environments, they need to be highly portable so that they can be transported to wherever they are needed, and highly storable so that they can be stored when not in use. We propose…
Due to the inability to receive signals from the Global Navigation Satellite System (GNSS) in extreme conditions, achieving accurate and robust navigation for Unmanned Aerial Vehicles (UAVs) is a challenging task. Recently emerged,…
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),…