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Precise trajectory tracking for legged robots can be challenging due to their high degrees of freedom, unmodeled nonlinear dynamics, or random disturbances from the environment. A commonly adopted solution to overcome these challenges is to…
Tracking passive magnetic markers plays a vital role in advancing healthcare and robotics, offering the potential to significantly improve the precision and efficiency of systems. This technology is key to developing smarter, more…
To measure system states and local environment directly with high precision, expensive sensors are required. However, highly accurate system states and environmental perception can also be achieved using data fusion techniques and digital…
This paper presents a deep learning approach to aid dead-reckoning (DR) navigation using a limited sensor suite. A Recurrent Neural Network (RNN) was developed to predict the relative horizontal velocities of an Autonomous Underwater…
During the evacuation of a building, the rapid and accurate tracking of human evacuees can be used by a guide robot to increase the effectiveness of the evacuation [1],[2]. This paper introduces a near real-time human position tracking…
Accurate estimation of spatial gait characteristics is critical to assess motor impairments resulting from neurological or musculoskeletal disease. Currently, however, methodological constraints limit clinical applicability of…
Recently, round-trip time (RTT) measured by a fine-timing measurement protocol has received great attention in the area of WiFi positioning. It provides an acceptable ranging accuracy in favorable environments when a line-of-sight (LOS)…
Studying animal locomotion improves our understanding of motor control and aids in the treatment of motor impairment. Mice are a premier model of human disease and are the model system of choice for much of basic neuroscience. High frame…
Kalman filter-based Inertial Navigation System (INS) is a reliable and efficient method to estimate the position of a pedestrian indoors. Classical INS-based methodology which is called IEZ (INS-EKF-ZUPT) makes use of an Extended Kalman…
In recent years, drone detection has quickly become a subject of extreme interest: the potential for fast-moving objects of contained dimensions to be used for malicious intents or even terrorist attacks has posed attention to the necessity…
The integration of Automated Delivery Robots (ADRs) into pedestrian-heavy urban spaces introduces unique challenges in terms of safe, efficient, and socially acceptable navigation. We develop the complete pipeline for a single vision sensor…
In this paper, we propose a novel inverse Dynamic Reachability Map (iDRM) that allows a floating base system to find valid end-poses in complex and dynamically changing environments in real-time. End-pose planning for valid stance pose and…
We present a method to improve the accuracy of a foot-mounted, zero-velocity-aided inertial navigation system (INS) by varying estimator parameters based on a real-time classification of motion type. We train a support vector machine (SVM)…
Reliable detection of various objects and road users in the surrounding environment is crucial for the safe operation of automated driving systems (ADS). Despite recent progresses in developing highly accurate object detectors based on Deep…
We present an approach for estimating a mobile robot's pose w.r.t. the allocentric coordinates of a network of static cameras using multi-view RGB images. The images are processed online, locally on smart edge sensors by deep neural…
This paper proposes the inertial localization problem, the task of estimating the absolute location from a sequence of inertial sensor measurements. This is an exciting and unexplored area of indoor localization research, where we present a…
Trajectory optimization methods have achieved an exceptional level of performance on real-world robots in recent years. These methods heavily rely on accurate analytical models of the dynamics, yet some aspects of the physical world can…
Locomotion mechanics of legged robots are suitable when pacing through difficult terrains. Recognising terrains for such robots are important to fully yoke the versatility of their movements. Consequently, robotic terrain classification…
In this paper we propose a novel accurate method for dead-reckoning of wheeled vehicles based only on an Inertial Measurement Unit (IMU). In the context of intelligent vehicles, robust and accurate dead-reckoning based on the IMU may prove…
In robotic surgery, tool tracking is important for providing safe tool-tissue interaction and facilitating surgical skills assessment. Despite recent advances in tool tracking, existing approaches are faced with major difficulties in…