Related papers: TinyIO: Lightweight Reparameterized Inertial Odome…
LoRaWAN is a compelling low-cost solution for large-scale indoor Internet of Things (IoT) data backhaul, owing to its strong penetration capability and low power consumption. However, its default pure ALOHA access mechanism leads to severe…
Existing LiDAR-Inertial Odometry (LIO) methods typically utilize the prior trajectory derived from the IMU integration to compensate for the motion distortion within LiDAR frames. However, discrepancies between the prior and true trajectory…
Machine learning on tiny IoT devices based on microcontroller units (MCU) is appealing but challenging: the memory of microcontrollers is 2-3 orders of magnitude smaller even than mobile phones. We propose MCUNet, a framework that jointly…
In this paper, we propose a novel framework for performance optimization in Internet of Things (IoT)-based next-generation wireless sensor networks. In particular, a computationally-convenient system is presented to combat two major…
Temporal misalignment (time offset) between sensors is common in low cost visual-inertial odometry (VIO) systems. Such temporal misalignment introduces inconsistent constraints for state estimation, leading to a significant positioning…
Visual-Inertial odometry (VIO) is the process of estimating the state (pose and velocity) of an agent (e.g., an aerial robot) by using only the input of one or more cameras plus one or more Inertial Measurement Units (IMUs) attached to it.…
This paper presents a novel method for visual-inertial odometry. The method is based on an information fusion framework employing low-cost IMU sensors and the monocular camera in a standard smartphone. We formulate a sequential inference…
Applications in the Internet of Things (IoT) utilize machine learning to analyze sensor-generated data. However, a major challenge lies in the lack of targeted intelligence in current sensing systems, leading to vast data generation and…
This paper presents a new approach for 6DoF Direct LiDAR-Inertial Odometry (D-LIO) based on the simultaneous mapping of truncated distance fields on CPU. Such continuous representation (in the vicinity of the points) enables working with…
Recently, non-orthogonal codes have been advocated for IoT massive access. Activity detection has been demonstrated to entail common support recovery in a jointly sparse multiple measurement vector (MMV) problem and MMV algorithms have been…
A new algorithm for incremental learning in the context of Tiny Machine learning (TinyML) is presented, which is optimized for low-performance and energy efficient embedded devices. TinyML is an emerging field that deploys machine learning…
The integration of artificial intelligence (AI) with the Internet of Things (IoT) enables task-oriented communication for multi-edge cooperative inference system, where edge devices transmit extracted features of local sensory data to an…
Recently, the progress in the radar sensing technology consisting in the miniaturization of the packages and increase in measuring precision has drawn the interest of the robotics research community. Indeed, a crucial task enabling autonomy…
Reducing computational costs is an important issue for development of embedded systems. Binary-weight Neural Networks (BNNs), in which weights are binarized and activations are quantized, are employed to reduce computational costs of…
In unstructured outdoor environments, robotics requires accurate and efficient odometry with low computational time. Existing low-bias LiDAR odometry methods are often computationally expensive. To address this problem, we present a…
Mapping and localization are two essential tasks for mobile robots in real-world applications. However, largescale and dynamic scenes challenge the accuracy and robustness of most current mature solutions. This situation becomes even worse…
Modern visual-inertial navigation systems (VINS) are faced with a critical challenge in real-world deployment: they need to operate reliably and robustly in highly dynamic environments. Current best solutions merely filter dynamic objects…
Visual Inertial Odometry (VIO) is an essential component of modern Augmented Reality (AR) applications. However, VIO only tracks the relative pose of the device, leading to drift over time. Absolute pose estimation methods infer the…
Uncertainty in LiDAR measurements, stemming from factors such as range sensing, is crucial for LIO (LiDAR-Inertial Odometry) systems as it affects the accurate weighting in the loss function. While recent LIO systems address uncertainty…
Accurate robot odometry is essential for autonomous navigation. While numerous techniques have been developed based on various sensor suites, odometry estimation using only radar and IMU remains an underexplored area. Radar proves…