相关论文: Airflow-Inertial Odometry for Resilient State Esti…
A new method for optimal sensor placement based on variable importance of machine learned models is proposed. With its simplicity, adaptivity, and low computational cost, the method offers many advantages over existing approaches. The new…
Accurate state and uncertainty estimation is imperative for mobile robots and self driving vehicles to achieve safe navigation in pedestrian rich environments. A critical component of state and uncertainty estimation for robot navigation is…
In this letter, we propose a robust, real-time tightly-coupled multi-sensor fusion framework, which fuses measurement from LiDAR, inertial sensor, and visual camera to achieve robust and accurate state estimation. Our proposed framework is…
Accurate and robust localization is a fundamental need for mobile agents. Visual-inertial odometry (VIO) algorithms exploit the information from camera and inertial sensors to estimate position and translation. Recent deep learning based…
It is not until we become senior citizens do we recognise how much we took maintaining a simple standing posture for granted. It is truly fascinating to observe the magnitude of control the human brain exercises, in real time, to activate…
As cameras and inertial sensors are becoming ubiquitous in mobile devices and robots, it holds great potential to design visual-inertial navigation systems (VINS) for efficient versatile 3D motion tracking which utilize any (multiple)…
Objective: Our aim is to determine if data collected with inertial measurement units (IMUs) during steady-state running could be used to estimate ground reaction forces (GRFs) and to derive biomechanical variables (e.g., contact time,…
We propose the use of basic inertial measurement units (IMU) which contain sensors such as accelerometers and gyroscopes already on-board drones to detect the speed and direction of wind gusts. The ability to quickly sense wind gusts has…
This paper proposes a real-time approach for long-term inertial navigation based only on an Inertial Measurement Unit (IMU) for self-localizing wheeled robots. The approach builds upon two components: 1) a robust detector that uses…
Inertial measurement units (IMUs) are fundamental sensing components in multi-source integrated navigation systems, and their performance directly determines the accuracy and reliability of solutions. However, the precision of low-cost IMUs…
This paper presents a computationally efficient and robust LiDAR-inertial odometry framework. We fuse LiDAR feature points with IMU data using a tightly-coupled iterated extended Kalman filter to allow robust navigation in fast-motion,…
We present a novel algorithm for online, real-time orientation estimation. Our algorithm integrates gyroscope data and corrects the resulting orientation estimate for integration drift using accelerometer and magnetometer data. This…
Strapdown inertial navigation systems are sensitive to the quality of the data provided by the accelerometer and gyroscope. Low-grade IMUs in handheld smart-devices pose a problem for inertial odometry on these devices. We propose a scheme…
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…
Aggressive motions from agile flights or traversing irregular terrain induce motion distortion in LiDAR scans that can degrade state estimation and mapping. Some methods exist to mitigate this effect, but they are still too simplistic or…
The interest in mobile platforms across a variety of applications has increased significantly in recent years. One of the reasons is the ability to achieve accurate navigation by using low-cost sensors. To this end, inertial sensors are…
The advent of 6G is expected to enable many use cases which may rely on accurate knowledge of the location and orientation of user equipment (UE). The conventional localization methods suffer from limitations such as synchronization and…
Previous incremental estimation methods consider estimating a single line, requiring as many observers as the number of lines to be mapped. This leads to the need for having at least $4N$ state variables, with $N$ being the number of lines.…
The management of invasive mechanical ventilation, and the regulation of sedation and analgesia during ventilation, constitutes a major part of the care of patients admitted to intensive care units. Both prolonged dependence on mechanical…
Positional estimation is of great importance in the public safety sector. Emergency responders such as fire fighters, medical rescue teams, and the police will all benefit from a resilient positioning system to deliver safe and effective…