Related papers: Joint Magnetometer-IMU Calibration via Maximum A P…
Structure from motion algorithms have an inherent limitation that the reconstruction can only be determined up to the unknown scale factor. Modern mobile devices are equipped with an inertial measurement unit (IMU), which can be used for…
This paper presents an online initialization method for bootstrapping the optimization-based monocular visual-inertial odometry (VIO). The method can online calibrate the relative transformation (spatial) and time offsets (temporal) among…
We present a robust system for state estimation that fuses measurements from multiple lidars and inertial sensors with GNSS data. To initiate the method, we use the prior GNSS pose information. We then perform incremental motion in…
Object detectors are at the heart of many semi- and fully autonomous decision systems and are poised to become even more indispensable. They are, however, still lacking in accessibility and can sometimes produce unreliable predictions.…
Human motion analysis is used in many different fields and applications. Currently, existing systems either focus on one single limb or one single class of movements. Many proposed systems are designed to be used in an indoor controlled…
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…
Accurate alignment of a fixed mobile device equipped with inertial sensors inside a moving vehicle is important for navigation, activity recognition, and other applications. Accurate estimation of the device mounting angle is required to…
The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the…
Relative State Estimation perform mutually localization between two mobile agents undergoing six-degree-of-freedom motion. Based on the principle of circular motion, the estimation accuracy is sensitive to nonlinear rotations of the…
Energy meters need to be calibrated for use in Measurement and Verification (M&V) projects. However, calibration can be prohibitively expensive and affect project feasibility negatively. This study presents a novel low-cost in-situ meter…
In this paper we propose a new analytical preintegration theory for graph-based sensor fusion with an inertial measurement unit (IMU) and a camera (or other aiding sensors).Rather than using discrete sampling of the measurement dynamics as…
Inertial Measurement Unit (IMU) has long been a dream for stable and reliable motion estimation, especially in indoor environments where GPS strength limits. In this paper, we propose a novel method for position and orientation estimation…
Lower limb exoskeletons and prostheses require precise, real time gait phase and step detections to ensure synchronized motion and user safety. Conventional methods often rely on complex force sensing hardware that introduces control…
This work presents methods for the determination of a humanoid robot's joint velocities and accelerations directly from link-mounted Inertial Measurement Units (IMUs) each containing a three-axis gyroscope and a three-axis accelerometer. No…
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,…
In this paper, we develop a system for the low-cost indoor localization and tracking problem using radio signal strength indicator, Inertial Measurement Unit (IMU), and magnetometer sensors. We develop a novel and simplified probabilistic…
In the present work we develop an algorithm for calibrating MEMS sensors, which accounts for the nonorthogonality of the accelerometers' axis, as well as for the constant bias and scaling errors. We derive an explicit formula for computing…
This paper developed an efficient method for calibrating triaxial MEMS gyroscopes, which can be effectively utilized in the field environment. The core strategy is to utilize the criterion that the dot product of the measured gravity and…
Inertial measurement unit (IMU) preintegration is widely used in factor graph optimization (FGO); e.g., in visual-inertial navigation system and global navigation satellite system/inertial navigation system (GNSS/INS) integration. However,…
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…