Related papers: IF-D: A High-Frequency, General-Purpose Inertial F…
We introduce M2DGR: a novel large-scale dataset collected by a ground robot with a full sensor-suite including six fish-eye and one sky-pointing RGB cameras, an infrared camera, an event camera, a Visual-Inertial Sensor (VI-sensor), an…
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…
Information Field Dynamics (IFD) by Torsten En{\ss}lin provides a tool to construct simulation schemes for data vectors $d(T)$ from measurements $d(0)$ which describe certain features of a physical process (signal), without any concrete…
We present a theoretical proposal and simulation study of a digital closed-loop thermal atomic-beam interferometer for inertial navigation applications. The scheme synchronizes phase biasing with momentum-kick reversal through the atomic…
This paper proposes a learning method for denoising gyroscopes of Inertial Measurement Units (IMUs) using ground truth data, and estimating in real time the orientation (attitude) of a robot in dead reckoning. The obtained algorithm…
This paper presents a new method for jointly calibrating a magnetometer and inertial measurement unit (IMU), focusing on balancing calibration accuracy and computational efficiency. The proposed method is based on a maximum a posteriori…
To develop and validate a fully automated, deep-learning pipeline for measuring glenoid bone loss on 3D CT scans using linear-based, en-face view, and best-circle method. Shoulder CT scans of 81 patients were retrospectively collected…
This paper presents a novel, compact four-degree-of-freedom motion-tracking device (IMTD) designed for training and evaluation in laparoscopic surgery. The device's kinematics, mechanical design, instrumentation, and prototypes are…
Wireless localization of permanent magnets enables occlusion-free guidance for medical interventions, yet its practical accuracy is fundamentally limited by two coupled challenges: the poor observability of conventional planar sensor arrays…
In this paper, we propose a fast extrinsic calibration method for fusing multiple inertial measurement units (MIMU) to improve visual-inertial odometry (VIO) localization accuracy. Currently, data fusion algorithms for MIMU highly depend on…
This paper presents an self-supervised deep learning network for monocular visual inertial odometry (named DeepVIO). DeepVIO provides absolute trajectory estimation by directly merging 2D optical flow feature (OFF) and Inertial Measurement…
To improve the accuracy and robustness of the inertial navigation systems (INS) for wheeled robots without adding additional component cost, we propose Wheel-INS, a complete dead reckoning solution based on a wheel-mounted…
Accurate and reliable sensor calibration is essential to fuse LiDAR and inertial measurements, which are usually available in robotic applications. In this paper, we propose a novel LiDAR-IMU calibration method within the continuous-time…
Wearable sensors such as Inertial Measurement Units (IMUs) are often used to assess the performance of human exercise. Common approaches use handcrafted features based on domain expertise or automatically extracted features using time…
We aim to enable robots to visually localize a target person through the aid of an additional sensing modality -- the target person's 3D inertial measurements. The need for such technology may arise when a robot is to meet person in a crowd…
Sim-to-real reinforcement learning (RL) for humanoid robots with high-gear ratio actuators remains challenging due to complex actuator dynamics and the absence of torque sensors. To address this, we propose a novel RL framework leveraging…
An integrate-and-fire time-encoding machine (IF-TEM) is an effective asynchronous sampler that translates amplitude information into non-uniform time sequences. In this work, we propose a novel Adaptive IF-TEM (AIF-TEM) approach. This…
Accurate depth estimation is crucial for many fields, including robotics, navigation, and medical imaging. However, conventional depth sensors often produce low-resolution (LR) depth maps, making detailed scene perception challenging. To…
Atom interferometery is an exquisite measurement technique sensitive to inertial forces. However, it is commonly limited to a single sensitive axis, allowing high-precision multi-dimensional sensing only through subsequent or post-corrected…
We propose Super Odometry, a high-precision multi-modal sensor fusion framework, providing a simple but effective way to fuse multiple sensors such as LiDAR, camera, and IMU sensors and achieve robust state estimation in…