相关论文: Experimental Comparison of Open Source Visual-Iner…
As inertial and visual sensors are becoming ubiquitous, visual-inertial navigation systems (VINS) have prevailed in a wide range of applications from mobile augmented reality to aerial navigation to autonomous driving, in part because of…
All physical laws are described as relationships between state variables that give a complete and non-redundant description of the relevant system dynamics. However, despite the prevalence of computing power and AI, the process of…
We study the question of how visual analysis can support the comparison of spatio-temporal ensemble data of liquid and gas flow in porous media. To this end, we focus on a case study, in which nine different research groups concurrently…
Robot localization remains a challenging task in GPS denied environments. State estimation approaches based on local sensors, e.g. cameras or IMUs, are drifting-prone for long-range missions as error accumulates. In this study, we aim to…
In order to make robots more useful in a variety of environments, they need to be highly portable so that they can be transported to wherever they are needed, and highly storable so that they can be stored when not in use. We propose…
Inertial Measurement Units (IMUs) enable portable, multibody motion capture (MoCap) in diverse environments beyond the laboratory, making them a practical choice for diagnosing mobility disorders and supporting rehabilitation in clinical or…
Sensing human motions through Inertial Measurement Units (IMUs) embedded in personal devices has enabled significant applications in health and wellness. Labeled IMU data is scarce, however, unlabeled or weakly labeled IMU data can be used…
Advances in micro-electro-mechanical (MEMS) techniques enable inertial measurements units (IMUs) to be small, cheap, energy efficient, and widely used in smartphones, robots, and drones. Exploiting inertial data for accurate and reliable…
Different technologies can acquire data for gait analysis, such as optical systems and inertial measurement units (IMUs). Each technology has its drawbacks and advantages, fitting best to particular applications. The presented multi-sensor…
Accurate, efficient, and robust state estimation is more important than ever in robotics as the variety of platforms and complexity of tasks continue to grow. Historically, discrete-time filters and smoothers have been the dominant…
In the realm of robotics, achieving simultaneous localization and mapping (SLAM) is paramount for autonomous navigation, especially in challenging environments like texture-less structures. This paper proposed a factor-graph-based model…
The common approach to inertial sensor calibration for navigation purposes has been to model the stochastic error signals of individual sensors independently, whether as components of a single inertial measurement unit (IMU) in different…
Recent advances in the fields of robotics and automation have spurred significant interest in robust state estimation. To enable robust state estimation, several methodologies have been proposed. One such technique, which has shown…
Visible images offer rich texture details, while infrared images emphasize salient targets. Fusing these complementary modalities enhances scene understanding, particularly for advanced vision tasks under challenging conditions. Recently,…
Underwater imagery often suffers from severe degradation resulting in low visual quality and reduced object detection performance. This work aims to evaluate state-of-the-art image enhancement models, investigate their effects on underwater…
Unmanned surface vehicles can encounter a number of varied visual circumstances during operation, some of which can be very difficult to interpret. While most cases can be solved only using color camera images, some weather and lighting…
Effective analysis of unusual domain specific video collections represents an important practical problem, where state-of-the-art general purpose models still face limitations. Hence, it is desirable to design benchmark datasets that…
Underwater scenes intrinsically involve degradation problems owing to heterogeneous ocean elements. Prevailing underwater image enhancement (UIE) methods stick to straightforward feature modeling to learn the mapping function, which leads…
Underwater simulators offer support for building robust underwater perception solutions. Significant work has recently been done to develop new simulators and to advance the performance of existing underwater simulators. Still, there…
This paper proposes a novel framework to evaluate fluid simulation methods based on crowd-sourced user studies in order to robustly gather large numbers of opinions. The key idea for a robust and reliable evaluation is to use a reference…