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We present IF-D, a large-scale inertial dataset designed to enable self-supervised and foundational learning for IMU time series. IF-D comprises continuous, long-duration multichannel recordings (accelerometer, gyroscope, magnetometer)…
With the rapid development of wearable technology, devices like smartphones, smartwatches, and headphones equipped with IMUs have become essential for applications such as pedestrian positioning. However, traditional pedestrian dead…
6-Degree of Freedom (6DoF) motion estimation with a combination of visual and inertial sensors is a growing area with numerous real-world applications. However, precise calibration of the time offset between these two sensor types is a…
Accurate velocity estimation is key to vehicle control. While the literature describes how model-based and learning-based observers are able to estimate a vehicle's velocity in normal driving conditions, the challenge remains to estimate…
Recently, data-driven inertial navigation approaches have demonstrated their capability of using well-trained neural networks to obtain accurate position estimates from inertial measurement units (IMU) measurements. In this paper, we…
In this work, we propose a novel method for performing inertial aided navigation, by using deep neural networks (DNNs). To date, most DNN inertial navigation methods focus on the task of inertial odometry, by taking gyroscope and…
Modern inertial measurements units (IMUs) are small, cheap, energy efficient, and widely employed in smart devices and mobile robots. Exploiting inertial data for accurate and reliable pedestrian navigation supports is a key component for…
Automated food intake gesture detection plays a vital role in dietary monitoring, enabling objective and continuous tracking of eating behaviors to support better health outcomes. Wrist-worn inertial measurement units (IMUs) have been…
The miniaturization of inertial measurement units (IMUs) facilitates their widespread use in a growing number of application domains. Orientation estimation is a prerequisite for most further data processing steps in inertial motion…
Visual Inertial Odometry (VIO) is one of the most established state estimation methods for mobile platforms. However, when visual tracking fails, VIO algorithms quickly diverge due to rapid error accumulation during inertial data…
The NGSIM trajectory data sets provide longitudinal and lateral positional information for all vehicles in certain spatiotemporal regions. Velocity and acceleration information cannot be extracted directly since the noise in the NGSIM…
A long-term accurate and robust localization system is essential for mobile robots to operate efficiently outdoors. Recent studies have shown the significant advantages of the wheel-mounted inertial measurement unit (Wheel-IMU)-based dead…
The study focuses on the experiment of using three different smartphones to collect acceleration data from vibration for the road roughness detection. The Android operating system is used in the application. The study takes place on…
Nasotracheal intubation (NTI) is a vital procedure in emergency airway management, where rapid and accurate glottis detection is essential to ensure patient safety. However, existing machine assisted visual detection systems often rely on…
Inertial measurement units (IMUs) increasingly function as a basic component of wearable sensor network (WSN)systems. IMU-based joint angle estimation (JAE) is a relatively typical usage of IMUs, with extensive applications. However, the…
Sparse Inertial Measurement Units (IMUs) based human motion capture has gained significant momentum, driven by the adaptation of fundamental AI tools such as recurrent neural networks (RNNs) and transformers that are tailored for temporal…
In this work we solve the position-aided 3D navigation problem using a nonlinear estimation scheme. More precisely, we propose a nonlinear observer to estimate the full state of the vehicle (position, velocity, orientation and gyro bias)…
IMUs are gaining significant importance in the field of hand gesture analysis, trajectory detection and kinematic functional study. An Inertial Measurement Unit (IMU) consists of tri-axial accelerometers and gyroscopes which can together be…
Attitude and heading reference systems (AHRS) play a central role in autonomous navigation systems on land, air and maritime platforms. AHRS utilize inertial sensor measurements to estimate platform orientation. In recent years, there has…
This paper presents a novel framework for estimating the position and orientation of flexible manipulators undergoing vertical motion using multiple inertial measurement units (IMUs), optimized and calibrated with ground truth data. The…