Related papers: Olfactory Inertial Odometry: Methodology for Effec…
Inertial parameters characterise an object's motion under applied forces, and can provide strong priors for planning and control of robotic actions to manipulate the object. However, these parameters are not available a-priori in situations…
The increasing demand for autonomous vehicles has created a need for robust navigation systems that can also operate effectively in adverse weather conditions. Visual odometry is a technique used in these navigation systems, enabling the…
Odor sensory evaluation has a broad application in food, clothing, cosmetics, and other fields. Traditional artificial sensory evaluation has poor repeatability, and the machine olfaction represented by the electronic nose (E-nose) is…
Visual Inertial Odometry (VIO) is of great interest due the ubiquity of devices equipped with both a monocular camera and Inertial Measurement Unit (IMU). Methods based on the extended Kalman Filter remain popular in VIO due to their low…
Autonomous navigation in the underwater environment is challenging due to limited visibility, dynamic changes, and the lack of a cost-efficient accurate localization system. We introduce UIVNav, a novel end-to-end underwater navigation…
Predicting the relationship between a molecule's structure and its odor remains a difficult, decades-old task. This problem, termed quantitative structure-odor relationship (QSOR) modeling, is an important challenge in chemistry, impacting…
Motion estimation by fusing data from at least a camera and an Inertial Measurement Unit (IMU) enables many applications in robotics. However, among the multitude of Visual Inertial Odometry (VIO) methods, few efficiently estimate device…
As a crucial infrastructure of intelligent mobile robots, LiDAR-Inertial odometry (LIO) provides the basic capability of state estimation by tracking LiDAR scans. The high-accuracy tracking generally involves the kNN search, which is used…
Tactile sensing plays a fundamental role in enabling robots to navigate dynamic and unstructured environments, particularly in applications such as delicate object manipulation, surface exploration, and human-robot interaction. In this…
In safety-critical scenarios, the protection level of the autonomous navigation system is crucial for enabling mobile robots to perform safe tasks. However, existing studies on probabilistic navigation systems for robots usually perform…
Olfaction lies at the intersection of chemical structure, neural encoding, and linguistic perception, yet existing representation methods fail to fully capture this pathway. Current approaches typically model only isolated segments of the…
Visual inertial odometry (VIO) is widely used for the state estimation of multicopters, but it may function poorly in environments with few visual features or in overly aggressive flights. In this work, we propose a perception-aware…
Understanding the interplay between hydrodynamics and chemical sensing in aquatic environments is crucial for unraveling biological swimmers' navigation, foraging, and communication strategies. This study investigates the role of kinematics…
The problem of locating an odor source in turbulent flows is central to key applications such as environmental monitoring and disaster response. We address this challenge by designing an algorithm based on Bayesian inference, which uses…
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…
Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially when the environment is visually challenging. In this paper,…
We consider the problem of olfactory searches in a turbulent environment. We focus on agents that respond solely to odor stimuli, with no access to spatial perception nor prior information about the odor. We ask whether navigation to a…
The paper presents a direct visual-inertial odometry system. In particular, a tightly coupled nonlinear optimization based method is proposed by integrating the recent advances in direct dense tracking and Inertial Measurement Unit (IMU)…
Smell's deep connection with food, memory, and social experience has long motivated researchers to bring olfaction into interactive systems. Yet most olfactory interfaces remain limited to fixed scent cartridges and pre-defined generation…
Inertial navigation computation is to acquire the attitude, velocity and position information of a moving body by integrating inertial measurements from gyroscopes and accelerometers. Over half a century has witnessed great efforts in…