相关论文: RINS-W: Robust Inertial Navigation System on Wheel…

Stride length estimation using inertial measurement unit (IMU) sensors is getting popular recently as one representative gait parameter for health care and sports training. The traditional estimation method requires some explicit…

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,…

Conventional Wi-Fi received signal strength indicator (RSSI) fingerprinting cannot meet the growing demand for accurate indoor localization and navigation due to its lower accuracy, while solutions based on light detection and ranging…

Motivated by the goal of achieving robust, drift-free pose estimation in long-term autonomous navigation, in this work we propose a methodology to fuse global positional information with visual and inertial measurements in a tightly-coupled…

This paper presents a high-precision positioning system that integrates ultra-wideband (UWB) time difference of arrival (TDoA) measurements, inertial measurement unit (IMU) data, and ultrasonic sensors through factor graph optimization. To…

This paper presents a novel robust online calibration framework for Ultra-Wideband (UWB) anchors in UWB-aided Visual-Inertial Navigation Systems (VINS). Accurate anchor positioning, a process known as calibration, is crucial for integrating…

Baseline generation for tracking applications is a difficult task when working with real world radar data. Data sparsity usually only allows an indirect way of estimating the original tracks as most objects' centers are not represented in…

This paper addresses accurate pose estimation (position, velocity, and orientation) for a rigid body using a combination of generic inertial-frame and/or body-frame measurements along with an Inertial Measurement Unit (IMU). By embedding…

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…

Tracking kinematic chains has many uses from healthcare to virtual reality. Inertial measurement units, IMUs, are well-recognised for their body tracking capabilities, however, existing solutions rely on gravity and often magnetic fields…

Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing,…

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,…

Navigation in unknown, chaotic environments continues to present a significant challenge for the robotics community. Lighting changes, self-similar textures, motion blur, and moving objects are all considerable stumbling blocks for…

Accurate calibration of intrinsic (odometer scaling factors) and extrinsic parameters (IMU-odometer translation and rotation) is essential for autonomous ground vehicle localization. Existing GNSS-aided approaches often rely on positioning…

We consider the problem of localizing a manned, semi-autonomous, or autonomous vehicle in the environment using information coming from the vehicle's sensors, a problem known as navigation or simultaneous localization and mapping (SLAM)…

Inertial-aided systems require continuous motion excitation among other reasons to characterize the measurement biases that will enable accurate integration required for localization frameworks. This paper proposes the use of informative…

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.…

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 concerns the estimation problem of attitude, position, and linear velocity of a rigid-body autonomously navigating with six degrees of freedom (6 DoF). The navigation dynamics are highly nonlinear and are modeled on the matrix…

Precise, seamless, and efficient train localization as well as long-term railway environment monitoring is the essential property towards reliability, availability, maintainability, and safety (RAMS) engineering for railroad systems.…