相关论文: Inertial Sensor Arrays, Maximum Likelihood, and Cr…

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…

Accelerometers offer motion sensing capabilities across a wide range of areas, enabling navigational awareness in consumer goods and defense applications, and playing a key role in monitoring and control systems. To date, on-chip…

In this paper, we propose an algorithm to combine multiple cheap Inertial Measurement Unit (IMU) sensors to calculate 3D-orientations accurately. Our approach takes into account the inherent and non-negligible systematic error in the…

This paper investigates parametric direction-of-arrival (DOA) estimation in a particular context: i) each sensor is characterized by an unknown complex gain and ii) the array consists of a collection of subarrays which are substantially…

This paper develops a mathematical and computational framework for analyzing the expected performance of Bayesian data fusion, or joint statistical inference, within a sensor network. We use variational techniques to obtain the posterior…

In this paper we study the joint determination of source and background flux for point sources as observed by digital array detectors. We explicitly compute the two-dimensional Cram\'er-Rao absolute lower bound (CRLB) as well as the…

Designing the sensing architecture for large-scale spatio-temporal systems is hard when accuracy requirements are specified but sensor models are uncertain or unavailable. Classical design treats sensor placement and estimation…

We investigate strategies for reaching the ultimate limit on the precision of frequency estimation when the number of probes used in each run of the experiment is fixed. That limit is set by the quantum Cram\'er-Rao bound (QCRB), which…

Visual odometry and Simultaneous Localization And Mapping (SLAM) has been studied as one of the most important tasks in the areas of computer vision and robotics, to contribute to autonomous navigation and augmented reality systems. In case…

Robotic applications are continuously striving towards higher levels of autonomy. To achieve that goal, a highly robust and accurate state estimation is indispensable. Combining visual and inertial sensor modalities has proven to yield…

We discuss the design of quantum hybrid inertial sensor that combines an optomechanical inertial sensor with the retro-reflector of a cold atom interferometer. This sensor fusion approach provides absolute and high accuracy measurements…

We address the problem of localizing multiple sources in 3D by combining sensor array measurements with camera observations. We propose a fusion framework extending the covariance matrix fitting method with an unbalanced optimal transport…

A recently proposed phase-estimation protocol that is based on measuring the parity of a two-mode squeezed-vacuum state at the output of a Mach-Zehnder interferometer shows that Cram\'{e}r-Rao bound sensitivity can be obtained [P.\ M.\…

Intensity correlation measurements form the basis of many experiments based on spontaneous parametric down-conversion. In the most common situation, two single-photon avalanche diodes and coincidence electronics are used in the detection of…

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…

This work presents a method for information fusion in source localization applications. The method utilizes the concept of optimal mass transport in order to construct estimates of the spatial spectrum using a convex barycenter formulation.…

Modern autonomous vehicles and robots utilize versatile sensors for localization and mapping. The fidelity of these maps is paramount, as an accurate environmental representation is a prerequisite for stable and precise localization. Factor…

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.…

Finger vein verification has developed a lot since its first proposal, but there is still not a perfect algorithm. It is proved that algorithms with the same overall accuracy may have different misclassified patterns. We could make use of…

In this paper we use the Cramer-Rao lower uncertainty bound to estimate the maximum precision that could be achieved on the joint simultaneous (or 2D) estimation of photometry and astrometry of a point source measured by a linear CCD…