Related papers: TinyIO: Lightweight Reparameterized Inertial Odome…
The D-band offering an untapped wide bandwidth is promising for high data rate communication and high-resolution wireless sensing. However, these potentials are hindered by the low performance and energy efficiency of the D-band circuits…
Inertial odometry is an attractive solution to the problem of state estimation for agile quadrotor flight. It is inexpensive, lightweight, and it is not affected by perceptual degradation. However, only relying on the integration of the…
This paper proposes a novel inertial-aided localization approach by fusing information from multiple inertial measurement units (IMUs) and exteroceptive sensors. IMU is a low-cost motion sensor which provides measurements on angular…
Assistive teleoperation enhances efficiency via shared control, yet inter-operator variability, stemming from diverse habits and expertise, induces highly heterogeneous trajectory distributions that undermine intent recognition stability.…
When your robot grasps an object using dexterous hands or grippers, it should understand the Task-Oriented Affordances of the Object(TOAO), as different tasks often require attention to specific parts of the object. To address this…
The technology for Visual Odometry (VO) that estimates the position and orientation of the moving object through analyzing the image sequences captured by on-board cameras, has been well investigated with the rising interest in autonomous…
Dynamic environments such as urban areas are still challenging for popular visual-inertial odometry (VIO) algorithms. Existing datasets typically fail to capture the dynamic nature of these environments, therefore making it difficult to…
Cameras and inertial measurement units are complementary sensors for ego-motion estimation and environment mapping. Their combination makes visual-inertial odometry (VIO) systems more accurate and robust. For globally consistent mapping,…
Electrical impedance tomography (EIT) is a noninvasive imaging method whereby electrical measurements on the boundary of a conductive medium (the data) are taken according to a prescribed protocol set and inverted to map the internal…
In this work, we introduce the first framework for Motion-aware Event Suppression, which learns to filter events triggered by IMOs and ego-motion in real time. Our model jointly segments IMOs in the current event stream while predicting…
This paper presents an AI-driven IoT robotic teleoperation system designed for real-time remote manipulation and intelligent visual monitoring, tailored for smart city applications. The architecture integrates a Flutter-based cross-platform…
Indoor localization systems often fuse inertial odometry with map information via hand-defined methods to reduce odometry drift, but such methods are sensitive to noise and struggle to generalize across odometry sources. To address the…
In navigation activities, kinematic parameters of a mobile vehicle play a significant role. Odometry is most commonly used for dead reckoning. However, the unrestricted accumulation of errors is a disadvantage using this method. As a…
We present DINO Patch Visual Odometry (DINO-VO), an end-to-end monocular visual odometry system with strong scene generalization. Current Visual Odometry (VO) systems often rely on heuristic feature extraction strategies, which can degrade…
This study introduces TinyPropv2, an innovative algorithm optimized for on-device learning in deep neural networks, specifically designed for low-power microcontroller units. TinyPropv2 refines sparse backpropagation by dynamically…
Automotive Multiple-Input Multiple-Output (MIMO) radars have gained significant traction in Advanced Driver Assistance Systems (ADAS) and Autonomous Vehicles (AV) due to their cost-effectiveness, resilience to challenging operating…
The large increase in the number of Internet of Things (IoT) devices have revolutionised the way data is processed, which added to the current trend from cloud to edge computing has resulted in the need for efficient and reliable data…
Addressing the imperative need for efficient artificial intelligence in IoT and edge computing, this study presents RepAct, a re-parameterizable adaptive activation function tailored for optimizing lightweight neural networks within the…
Autonomous robotic systems heavily rely on environment knowledge to safely navigate. For search & rescue, a flying robot requires robust real-time perception, enabled by complementary sensors. IMU data constrains acceleration and rotation,…
In this paper, we present the Trifo Visual Inertial Odometry (Trifo-VIO), a tightly-coupled filtering-based stereo VIO system using both points and lines. Line features help improve system robustness in challenging scenarios when point…