Related papers: SSPINNpose: A Self-Supervised PINN for Inertial Po…
The task of strapdown inertial navigation system (SINS) initial alignment is to calculate the attitude transformation matrix from body frame to navigation frame. In this paper, such attitude transformation matrix is divided into two parts…
Advances in machine learning and wearable sensors offer new opportunities for capturing and analyzing human movement outside specialized laboratories. Accurate assessment of human movement under real-world conditions is essential for…
We observe that human poses exhibit strong group-wise structural correlation and spatial coupling between keypoints due to the biological constraints of different body parts. This group-wise structural correlation can be explored to improve…
Markerless motion capture enables the tracking of human motion without requiring physical markers or suits, offering increased flexibility and reduced costs compared to traditional systems. However, these advantages often come at the…
Spectropolarimetric inversions of solar observations are fundamental for the estimation of the magnetic field in the solar atmosphere. However, instrumental noise, computational requirements, and varying levels of physical realism make it…
Different technologies can acquire data for gait analysis, such as optical systems and inertial measurement units (IMUs). Each technology has its drawbacks and advantages, fitting best to particular applications. The presented multi-sensor…
Musculoskeletal humanoids are robots that closely mimic the human musculoskeletal system, offering various advantages such as variable stiffness control, redundancy, and flexibility. However, their body structure is complex, and muscle…
A Magnetic field Aided Inertial Navigation System (MAINS) for indoor navigation is proposed in this paper. MAINS leverages an array of magnetometers to measure spatial variations in the magnetic field, which are then used to estimate the…
MEMS Inertial Measurement Units (IMUs) as ubiquitous proprioceptive motion measurement devices are available on various everyday gadgets and robotic platforms. Nevertheless, the direct inference of geometrical transformations or odometry…
Falls represent a significant cause of injury among the elderly population. Extensive research has been devoted to the utilization of wearable IMU sensors in conjunction with machine learning techniques for fall detection. To address the…
The Space Domain Awareness (SDA) community routinely tracks satellites in orbit by fitting an orbital state to observations made by the Space Surveillance Network (SSN). In order to fit such orbits, an accurate model of the forces that are…
Solving inverse problems with Physics-Informed Neural Networks (PINNs) is computationally expensive for multi-query scenarios, as each new set of observed data requires a new, expensive training procedure. We present Inverse-Parameter Basis…
Accurate and reliable human motion reconstruction is crucial for creating natural interactions of full-body avatars in Virtual Reality (VR) and entertainment applications. As the Metaverse and social applications gain popularity, users are…
This work presents P2P-Insole, a low-cost approach for estimating and visualizing 3D human skeletal data using insole-type sensors integrated with IMUs. Each insole, fabricated with e-textile garment techniques, costs under USD 1, making it…
Accurate and reliable estimation of biases of low-cost Inertial Measurement Units (IMU) is a key factor to maintain the resilience of Visual-Inertial Odometry (VIO), particularly when visual tracking fails in challenging areas. In such…
This work introduces the Spacecraft Pose Network (SPN) for on-board estimation of the pose, i.e., the relative position and attitude, of a known non-cooperative spacecraft using monocular vision. In contrast to other state-of-the-art pose…
There exist challenging problems in 3D human pose estimation mission, such as poor performance caused by occlusion and self-occlusion. Recently, IMU-vision sensor fusion is regarded as valuable for solving these problems. However, previous…
Reliable spacecraft attitude control depends on accurate prediction of attitude dynamics, particularly when model-based strategies such as Model Predictive Control (MPC) are employed, where performance is limited by the quality of the…
Human Pose Estimation (HPE) to assess human motion in sports, rehabilitation or work safety requires accurate sensing without compromising the sensitive underlying personal data. Therefore, local processing is necessary and the limited…
In this paper, mm-Pose, a novel approach to detect and track human skeletons in real-time using an mmWave radar, is proposed. To the best of the authors' knowledge, this is the first method to detect >15 distinct skeletal joints using…