相关论文: Inertial Odometry on Handheld Smartphones

Autonomous mobile robots operating in novel environments depend critically on accurate state estimation, often utilizing visual and inertial measurements. Recent work has shown that an invariant formulation of the extended Kalman filter…

With the rapid development of wearable technology, devices like smartphones, smartwatches, and headphones equipped with IMUs have become essential for applications such as pedestrian positioning. However, traditional pedestrian dead…

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…

Inertial-based navigation refers to the navigation methods or systems that have inertial information or sensors as the core part and integrate a spectrum of other kinds of sensors for enhanced performance. Through a series of papers, the…

Attitude determination using the smartphone's inertial sensors poses a major challenge due to the sensor low-performance grade and variate nature of the walking pedestrian. In this paper, data-driven techniques are employed to address that…

A filter for inertial-based odometry is a recursive method used to estimate the pose from measurements of ego-motion and relative pose. Currently, there is no known filter that guarantees the computation of a globally optimal solution for…

This paper presents a novel online capable method for simultaneous estimation of human motion in terms of segment orientations and positions along with sensor-to-segment calibration parameters from inertial sensors attached to the body. In…

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,…

In motion tracking of connected multi-body systems Inertial Measurement Units (IMUs) are used in a wide variety of applications, since they provide a low-cost easy-to-use method for orientation estimation. However, in indoor environments or…

Mobile robots are used in industrial, leisure, and military applications. In some situations, a robot navigation solution relies only on inertial sensors and as a consequence, the navigation solution drifts in time. In this paper, we…

Inertial Odometry (IO) has gained attention in quadrotor applications due to its sole reliance on inertial measurement units (IMUs), attributed to its lightweight design, low cost, and robust performance across diverse environments.…

Inertial Odometry (IO) enables real-time localization using only acceleration and angular velocity measurements from an Inertial Measurement Unit (IMU), making it a promising solution for localization in consumer-grade applications.…

Millimeter wave radar can measure distances, directions, and Doppler velocity for objects in harsh conditions such as fog. The 4D imaging radar with both vertical and horizontal data resembling an image can also measure objects' height.…

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…

Smartphone usage while driving is unanimously considered to be a really dangerous habit due to strong correlation with road accidents. In this paper, the problem of detecting whether the driver is using the phone during a trip is addressed.…

This paper presents the large and diverse dataset for development of smartphone-based pedestrian navigation algorithms. This dataset consists of about 1200 sets of inertial measurements from sensors of several smartphones. The measurements…

In this paper, we propose a novel laser-inertial odometry and mapping method to achieve real-time, low-drift and robust pose estimation in large-scale highway environments. The proposed method is mainly composed of four sequential modules,…

Learning-based inertial odometry has achieved remarkable progress in pedestrian navigation. However, extending these methods to quadruped robots remains challenging due to their distinct and highly dynamic motion patterns. Models that…

Land vehicle navigation based on inertial navigation system (INS) and odometers is a classical autonomous navigation application and has been extensively studied over the past several decades. In this work, we seriously analyze the error…

The paper presents a direct visual-inertial odometry system. In particular, a tightly coupled nonlinear optimization based method is proposed by integrating the recent advances in direct dense tracking and Inertial Measurement Unit (IMU)…