Related papers: Magnetic Sensor Compensation Utilizing Factor Grap…
Camera-to-robot (also known as eye-to-hand) calibration is a critical component of vision-based robot manipulation. Traditional marker-based methods often require human intervention for system setup. Furthermore, existing autonomous…
Radio Interferometry is an essential method for astronomical observations. Self-calibration techniques have increased the quality of the radio astronomical observations (and hence the science) by orders of magnitude. Recently, there is a…
Parameter estimation in robotics and computer vision faces formidable challenges from both outlier contamination and nonconvex optimization landscapes. While M-estimation addresses the problem of outliers through robust loss functions, it…
The MICROSCOPE space mission aims to test the Equivalence Principle with an accuracy of $10^{-15}$. The drag-free micro-satellite will orbit around the Earth and embark a differential electrostatic accelerometer including two cylindrical…
Unmanned aerospace vehicles usually carry sensors (i.e., electro-optical and/or infrared imaging cameras) as their primary payload. These sensors are used for image processing, target tracking, surveillance, mapping, and providing…
In active source seeking, a robot takes repeated measurements in order to locate a signal source in a cluttered and unknown environment. A key component of an active source seeking robot planner is a model that can produce estimates of the…
We present a method developed to actively compensate common-mode magnetic disturbances on a multi-sensor device devoted to differential measurements. The system uses a field-programmable-gated-array card, and operates in conjunction with a…
longitudinal magnetic field often suffers the saturation effect in strong magnetic field region when the measurement performs in a single-wavelength point and linear calibration is adopted. In this study, we develop a method that can judge…
This manuscript develops a simultaneous navigation and gravity estimation strategy around a small body. The scheme combines dynamical model compensation with a mascon gravity fit. Dynamical compensation adds the unmodeled acceleration to…
Optical tactile sensors provide robots with rich force information for robot grasping in unstructured environments. The fast and accurate calibration of three-dimensional contact forces holds significance for new sensors and existing…
This note is intended to serve as a straightforward reference that summarizes and expands on the linear aeromagnetic compensation model first introduced by Tolles and Lawson in 1950. The Tolles-Lawson model provides a simple, physical…
Magnetic field inhomogeneity estimation is important in some types of magnetic resonance imaging (MRI), including field-corrected reconstruction for fast MRI with long readout times, and chemical shift based water-fat imaging. Regularized…
Ferromagnetic materials in indoor environments give rise to disturbances in the ambient magnetic field. Maps of these magnetic disturbances can be used for indoor localisation. A Gaussian process can be used to learn the spatially varying…
This paper presents a range inertial localization algorithm for a 3D prior map. The proposed algorithm tightly couples scan-to-scan and scan-to-map point cloud registration factors along with IMU factors on a sliding window factor graph.…
Accurately estimating the positions of multi-agent systems in indoor environments is challenging due to the lack of Global Navigation Satelite System (GNSS) signals. Noisy measurements of position and orientation can cause the integrated…
High-precision inertial sensors or accelerometers can provide us references of free-falling motions in gravitational field in space. They serve as the key payloads for gravity recovery missions such as the CHAMP, the GRACE-type missions,…
Frequency Modulated Continuous Wave (FMCW) radar is a promising sensor for aided inertial navigation, due to its robustness in environments that challenge traditional alternatives, such as LiDAR and vision. However, its widespread adoption…
Non-negative matrix factorization (NMF) has proved effective in many clustering and classification tasks. The classic ways to measure the errors between the original and the reconstructed matrix are $l_2$ distance or Kullback-Leibler (KL)…
We present a novel method for generation of sets of the Cosmic Microwave Background (CMB) anisotropy maps, which reproduces the $\Delta \l=2$ correlations associated with Alfv\'en turbulence. The method is based on the non-linear…
Accurate extrinsic calibration between multiple LiDAR sensors and a GNSS-aided inertial navigation system (GINS) is essential for achieving reliable sensor fusion in intelligent mining environments. Such calibration enables vehicle-road…