Related papers: Full Magnetometer and Gyroscope Bias Estimation us…
Inertial Measurement Unit (IMU) sensors, including accelerometers, gyroscopes, and magnetometers, are used to estimate the orientation of mobile devices. However, indoor magnetic fields are often distorted, causing the magnetometer's…
The determination of the absolute and relative position of a spacecraft is critical for its operation, observations, data analysis, scientific studies, as well as deep space exploration in general. A spacecraft that can determine its own…
Accurate and robust attitude estimation is a central challenge for autonomous vehicles operating in GNSS-denied or highly dynamic environments. In such cases, Inertial Measurement Units (IMUs) alone are insufficient for reliable tilt…
Accurate human pose estimation is essential for effective Human-Robot Interaction (HRI). By observing a user's arm movements, robots can respond appropriately, whether it's providing assistance or avoiding collisions. While visual…
This paper presents research findings on handling faulty measurements (i.e., outliers) of global navigation satellite systems (GNSS) for vehicle localization under adverse signal conditions in field applications, where raw GNSS data are…
A new physically based method to estimate hemispheric-directional reflectance factor (HDRF) from lightweight multispectral cameras that have a downwelling irradiance sensor is presented. It combines radiometry with photogrammetric computer…
Cardiovascular disease is a large worldwide healthcare issue; symptoms often present suddenly with minimal warning. The electrocardiogram (ECG) is a fast, simple and reliable method of evaluating the health of the heart, by measuring…
Magneto-mechanical resonators (MMRs) represent a recently proposed type of passive sensor that enables the estimation of its pose as well as sensing other parameters in its environment. The working principle of MMRs entails an excitation of…
This paper proposes a novel algorithm to determine the optimal placement of redundant inertial sensors such as accelerometers and gyroscopes (gyros) for increasing the sensing accuracy. In this paper, we have proposed a novel iterative…
The presence of motion artifacts in magnetic resonance imaging (MRI) scans poses a significant challenge, where even minor patient movements can lead to artifacts that may compromise the scan's utility.This paper introduces MAsked MOtion…
This letter presents a model-agnostic meta-learning (MAML) based framework for simultaneous and accurate estimation of human gait phase and terrain geometry using a small set of fabric-based wearable soft sensors, with efficient adaptation…
This paper presents a method for determining spacecraft angular rates using event-based camera sensing. This is achieved by analyzing the temporal distribution of brightness events triggered by the apparent motion of stars. The location and…
We present a high resolution method for measuring magnetostriction in millisecond pulsed magnetic fields at cryogenic temperatures with a sensitivity of $1.11\times10^{-11}/\sqrt{\rm Hz}$. The sample is bonded to a thin piezoelectric plate,…
We present a comprehensive framework for fusing measurements from multiple and generally placed accelerometers and gyroscopes to perform inertial navigation. Using the angular acceleration provided by the accelerometer array, we show that…
Movable antennas (MAs) show great promise for enhancing the sensing capabilities of future sixth-generation (6G) networks. With the growing prevalence of near-field propagation at ultra-high frequencies, this paper focuses on the…
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…
To obtain a high-accuracy position with SINS(Strapdown Inertial Navigation System), initial alignment needs to determine initial attitude rapidly and accurately. High-accuracy grade IMU(Inertial Measurement Uint) can obtain the initial…
The rigid-body attitude tracking using vector and biased gyro measurements with unknown inertia matrix is studied in this note. First, a gyro-bias observer with global exponential stability is designed. Then, an attitude tracking controller…
Map matching and registration are essential tasks in robotics for localisation and integration of multi-session or multi-robot data. Traditional methods rely on cameras or LiDARs to capture visual or geometric information but struggle in…
Modern autonomous vehicles and robots utilize versatile sensors for localization and mapping. The fidelity of these maps is paramount, as an accurate environmental representation is a prerequisite for stable and precise localization. Factor…