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Hybrid systems, such as bipedal walkers, are challenging to control because of discontinuities in their nonlinear dynamics. Little can be predicted about the systems' evolution without modeling the guard conditions that govern transitions…
This work addresses the critical lack of precision in state estimation in the Kalman filter for 3D multi-object tracking (MOT) and the ongoing challenge of selecting the appropriate motion model. Existing literature commonly relies on…
Pose estimation purely based on 3D point-cloud could suffer from degradation, e.g. scan blocks or scans in repetitive environments. To deal with this problem, we propose an approach for fusing 3D spinning LiDAR and IMU to estimate the…
Human Activity Recognition (HAR) using wearable inertial measurement unit (IMU) sensors can revolutionize healthcare by enabling continual health monitoring, disease prediction, and routine recognition. Despite the high accuracy of Deep…
Existing LiDAR-Inertial Odometry (LIO) systems typically use sensor-specific or environment-dependent measurement covariances during state estimation, leading to laborious parameter tuning and suboptimal performance in challenging…
Previous gait phase detection as convolutional neural network (CNN) based classification task requires cumbersome manual setting of time delay or heavy overlapped sliding windows to accurately classify each phase under different test cases,…
Recent studies confirm the applicability of Inertial Measurement Unit (IMU)-based systems for human motion analysis. Notwithstanding, high-end IMU-based commercial solutions are yet too expensive and complex to democratize their use among a…
This paper proposes a novel data-driven approach for inertial navigation, which learns to estimate trajectories of natural human motions just from an inertial measurement unit (IMU) in every smartphone. The key observation is that human…
Many smartphone applications use inertial measurement units (IMUs) to sense movement, but the use of these sensors for pedestrian localization can be challenging due to their noise characteristics. Recent data-driven inertial odometry…
Gait has been considered as a promising and unique biometric for person identification. Traditionally, gait data are collected using either color sensors, such as a CCD camera, depth sensors, such as a Microsoft Kinect, or inertial sensors,…
Gait recognition is a leading remote-based identification method, suitable for real-world surveillance and medical applications. Model-based gait recognition methods have been particularly recognized due to their scale and view-invariant…
Gait phase-based control is a trending research topic for walking-aid robots, especially robotic lower-limb prostheses. Gait phase estimation is a challenge for gait phase-based control. Previous researches used the integration or the…
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…
This paper presents a tightly-coupled multi-sensor fusion algorithm termed LiDAR-inertial-camera fusion (LIC-Fusion), which efficiently fuses IMU measurements, sparse visual features, and extracted LiDAR points. In particular, the proposed…
We describe the characterization and removal of noise present in the Inertial Measurement Unit (IMU) MPU-6050. This IMU was initially used in an attitude sensor (AS) developed in-house, and subsequently implemented in a pointing and…
In this paper, a simultaneous localization and mapping (SLAM) algorithm for tracking the motion of a pedestrian with a foot-mounted inertial measurement unit (IMU) is proposed. The algorithm uses two maps, namely, a motion map and a…
Finding the position of the user is an important processing step for augmented reality (AR) applications. This paper investigates the use of different motion models in order to choose the most suitable one, and eventually reduce the Kalman…
In this work we propose a tightly-coupled Extended Kalman Filter framework for IMU-only state estimation. Strap-down IMU measurements provide relative state estimates based on IMU kinematic motion model. However the integration of…
Gait recognition using noninvasively acquired data has been attracting an increasing interest in the last decade. Among various modalities of data sources, it is experimentally found that the data involving skeletal representation are…
Despite the widespread integration of ambient light sensors (ALS) in smart devices commonly used for screen brightness adaptation, their application in human activity recognition (HAR), primarily through body-worn ALS, is largely…