相关论文: Pedestrian Dead-Reckoning Algorithms For Dual Foot…

This paper presents a state-estimation solution for legged robots that uses a set of low-cost, compact, and lightweight sensors to achieve low-drift pose and velocity estimation under challenging locomotion conditions. The key idea is to…

In this work, we propose a novel method for performing inertial aided navigation, by using deep neural networks (DNNs). To date, most DNN inertial navigation methods focus on the task of inertial odometry, by taking gyroscope and…

Full-body motion estimation of a human through wearable sensing technologies is challenging in the absence of position sensors. This paper contributes to the development of a model-based whole-body kinematics estimation algorithm using…

State estimation for legged locomotion over a dynamic rigid surface (DRS), which is a rigid surface moving in the world frame (e.g., ships, aircraft, and trains), remains an under-explored problem. This paper introduces an invariant…

This paper proposes a novel inertial-aided localization approach by fusing information from multiple inertial measurement units (IMUs) and exteroceptive sensors. IMU is a low-cost motion sensor which provides measurements on angular…

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…

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…

MEMS Inertial Measurement Units (IMUs) as ubiquitous proprioceptive motion measurement devices are available on various everyday gadgets and robotic platforms. Nevertheless, the direct inference of geometrical transformations or odometry…

A pedestrian navigation system (PNS) in indoor environments, where global navigation satellite system (GNSS) signal access is difficult, is necessary, particularly for search and rescue (SAR) operations in large buildings. This paper…

Inertial motion capture is a promising approach for capturing motion outside the laboratory. However, as one major drawback, most of the current methods require different quantities to be calibrated or computed offline as part of the setup…

Inertial measurement unit (IMU) and odometer have been commonly-used sensors for autonomous land navigation in the global positioning system (GPS)-denied scenarios. This paper systematically proposes a versatile strategy for self-contained…

The implementation challenges of cooperative localization by dual foot-mounted inertial sensors and inter-agent ranging are discussed and work on the subject is reviewed. System architecture and sensor fusion are identified as key…

While a vast number of location-based services appeared lately, indoor positioning solutions are developed to provide reliable position information in environments where traditionally used satellite-based positioning systems cannot provide…

This paper introduces a new approach to 3-D position estimation from acceleration data, i.e., a 3-D motion tracking system having a small size and low-cost magnetic and inertial measurement unit (MIMU) composed by both a digital compass and…

This paper presents a novel constrained Factor Graph Optimization (FGO)-based approach for networked inertial navigation in pedestrian localization. To effectively mitigate the drift inherent in inertial navigation solutions, we incorporate…

This paper presents a novel method for pedestrian detection and tracking by fusing camera and LiDAR sensor data. To deal with the challenges associated with the autonomous driving scenarios, an integrated tracking and detection framework is…

The miniaturization of inertial measurement units (IMUs) facilitates their widespread use in a growing number of application domains. Orientation estimation is a prerequisite for most further data processing steps in inertial motion…

Recent studies confirm the applicability of Inertial Measurement Unit (IMU)-based systems for human motion analysis. Notwithstanding, high-end IMU-based commercial solutions are yet too expensive and complex to democratize their use among a…

Involuntary motion during weight-bearing cone-beam computed tomography (CT) scans of the knee causes artifacts in the reconstructed volumes making them unusable for clinical diagnosis. Currently, image-based or marker-based methods are…

Lower limb exoskeletons and prostheses require precise, real time gait phase and step detections to ensure synchronized motion and user safety. Conventional methods often rely on complex force sensing hardware that introduces control…