相关论文: 3-D position estimation from inertial sensing: min…

Synchronisation of wireless inertial measurement units in human movement analysis is often achieved using event-based synchronisation techniques. However, these techniques lack precise event generation and accuracy. An inaccurate…

Inertial measurement units are commonly used in a growing number of application fields to track or capture motions of kinematic chains, such as human limbs, exoskeletons or robotic actuators. A major challenge is the presence of magnetic…

Inertial Measurement Unit (IMU) sensors, including accelerometers, gyroscopes, and magnetometers, are used to estimate the orientation of mobile devices. However, indoor magnetic fields are often distorted, causing the magnetometer's…

This paper proposes a unified mathematical framework for inertial measurement unit (IMU) preintegration in inertial-aided navigation system in different frames under different motion condition. The navigation state is precisely discretized…

We propose to estimate 3D human pose from multi-view images and a few IMUs attached at person's limbs. It operates by firstly detecting 2D poses from the two signals, and then lifting them to the 3D space. We present a geometric approach to…

This paper presents a convolutional neural network based foot motion tracking with only six-axis Inertial-Measurement-Unit (IMU) sensor data. The presented approach can adapt to various walking conditions by adopting differential and window…

Ego-motion estimation is a fundamental requirement for most mobile robotic applications. By sensor fusion, we can compensate the deficiencies of stand-alone sensors and provide more reliable estimations. We introduce a tightly coupled…

This paper presents a novel framework for estimating the position and orientation of flexible manipulators undergoing vertical motion using multiple inertial measurement units (IMUs), optimized and calibrated with ground truth data. The…

Real-time object pose estimation and tracking is challenging but essential for emerging augmented reality (AR) applications. In general, state-of-the-art methods address this problem using deep neural networks which indeed yield…

The paper presents a new observer for tilt estimation of a 3-D non-rigid pendulum. The system can be seen as a multibody robot attached to the environment with a ball joint. There is no sensor for the joint position of the sensor. The…

Inertial navigation systems (INS) are widely used in almost any operational environment, including aviation, marine, and land vehicles. Inertial measurements from accelerometers and gyroscopes allow the INS to estimate position, velocity,…

This paper deals with the error analysis of a novel navigation algorithm that uses as input the sequence of images acquired from a moving camera and a Digital Terrain (or Elevation) Map (DTM/DEM). More specifically, it has been shown that…

This paper addresses the problem of estimating the attitude of a rigid body, which is subject to high accelerations and equipped with inertial measurement unit (IMU) and sensors providing the body velocity (expressed in the reference frame…

In this paper, we argue that modern pre-integration methods for inertial measurement units (IMUs) are accurate enough to ignore the drift for short time intervals. This allows us to consider a simplified camera model, which in turn admits…

Aligning a robot's trajectory or map to the inertial frame is a critical capability that is often difficult to do accurately even though inertial measurement units (IMUs) can observe absolute roll and pitch with respect to gravity.…

The motion capture system that supports full-body virtual representation is of key significance for virtual reality. Compared to vision-based systems, full-body pose estimation from sparse tracking signals is not limited by environmental…

3D pose estimation offers the opportunity for fast, non-invasive, and accurate motion analysis. This is of special interest also for clinical use. Currently, motion capture systems are used, as they offer robust and precise data…

Positional estimation is of great importance in the public safety sector. Emergency responders such as fire fighters, medical rescue teams, and the police will all benefit from a resilient positioning system to deliver safe and effective…

In this paper, we focus on motion estimation dedicated for non-holonomic ground robots, by probabilistically fusing measurements from the wheel odometer and exteroceptive sensors. For ground robots, the wheel odometer is widely used in pose…

This paper tackles the problem of estimating the relative position, orientation, and velocity between a UAV and a planar platform undergoing arbitrary 3D motion during approach and landing. The estimation relies on measurements from…