相关论文: Pedestrian Motion Tracking by Using Inertial Senso…
In this article we propose the use of accelerometer embedded by default in smartphone as a cost-effective, reliable and efficient way to provide remote physical activity monitoring for the elderly and people requiring healthcare service.…
Global Positioning System (GPS) navigation provides accurate positioning with global coverage, making it a reliable option in open areas with unobstructed sky views. However, signal degradation may occur in indoor spaces and urban canyons.…
Inertial odometry is an attractive solution to the problem of state estimation for agile quadrotor flight. It is inexpensive, lightweight, and it is not affected by perceptual degradation. However, only relying on the integration of the…
This paper investigates the estimation problem of the pose (orientation and position) and linear velocity of a rigid body, as well as the landmark positions, using an inertial measurement unit (IMU) and a monocular camera. First, we propose…
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.…
Estimation of the centre of pressure (COP) is an important part of the gait analysis, for example, when evaluating the functional capacity of individuals affected by motor impairment. Inertial measurement units (IMUs) and force sensors are…
Compared to other biometrics, gait is difficult to conceal and has the advantage of being unobtrusive. Inertial sensors, such as accelerometers and gyroscopes, are often used to capture gait dynamics. These inertial sensors are commonly…
This paper proposes a unified mathematical framework for inertial measurement unit (IMU) preintegration in inertial-aided navigation system in different frames under different motion condition. The navigation state is precisely discretized…
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 Measurement Units (IMUs) are interceptive modalities that provide ego-motion measurements independent of the environmental factors. They are widely adopted in various autonomous systems. Motivated by the limitations in processing…
What if our clothes could capture our body motion accurately? This paper introduces Flexible Inertial Poser (FIP), a novel motion-capturing system using daily garments with two elbow-attached flex sensors and four Inertial Measurement Units…
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…
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…
Indoor tracking and pose estimation, i.e., determining the position and orientation of a moving target, are increasingly important due to their numerous applications. While Inertial Navigation Systems (INS) provide high update rates, their…
The ability to sense, localize, and estimate the 3D position and orientation of the human body is critical in virtual reality (VR) and extended reality (XR) applications. This becomes more important and challenging with the deployment of…
Inertial motion capture systems widely use low-cost IMUs to obtain the orientation of human body segments, but these sensors alone are unable to estimate link positions. Therefore, this research used a SLAM method in conjunction with…
This paper presents a novel framework for estimating the position and orientation of flexible manipulators undergoing vertical motion using multiple inertial measurement units (IMUs), optimized and calibrated with ground truth data. The…
An approach for computing unique gait signature using measurements collected from body-worn inertial measurement units (IMUs) is proposed. The gait signature represents one full cycle of the human gait, and is suitable for off-line or…
In recent years, tracking human motion using IMUs from everyday devices such as smartphones and smartwatches has gained increasing popularity. However, due to the sparsity of sensor measurements and the lack of datasets capturing human…
Inertial information processing plays a pivotal role in ego-motion awareness for mobile agents, as inertial measurements are entirely egocentric and not environment dependent. However, they are affected greatly by changes in sensor…