相关论文: Pedestrian Dead Reckoning System using Quasi-stati…

This paper presents a novel method for detecting pedestrians under adverse illumination conditions. Our approach relies on a novel cross-modality learning framework and it is based on two main phases. First, given a multimodal dataset, a…

Autonomous surface vessels (ASVs) are increasingly vital for marine science, offering robust platforms for underwater mapping and inspection. Accurate state estimation, particularly of vehicle pose, is paramount for precise seafloor…

Most current gait recognition methods suffer from poor interpretability and high computational cost. To improve interpretability, we investigate gait features in the embedding space based on Koopman operator theory. The transition matrix in…

Pedestrian Detection is the most critical module of an Autonomous Driving system. Although a camera is commonly used for this purpose, its quality degrades severely in low-light night time driving scenarios. On the other hand, the quality…

This paper presents an Extended Kalman Filter (EKF) approach to localize a mobile robot with two quadrature encoders, a compass sensor, a laser range finder (LRF) and an omni-directional camera. The prediction step is performed by employing…

Goal: This paper presents an algorithm for accurately estimating pelvis, thigh, and shank kinematics during walking using only three wearable inertial sensors. Methods: The algorithm makes novel use of a constrained Kalman filter (CKF). The…

Building upon the theory of Kalman Filtering on Lie Groups, this paper describes an Extended Kalman Filter and Smoother for Loosely Coupled Integration of GNSS/INS tailored for post-processing applications. The approach employs a dynamic…

In this paper, we propose a novel inverse Dynamic Reachability Map (iDRM) that allows a floating base system to find valid end-poses in complex and dynamically changing environments in real-time. End-pose planning for valid stance pose and…

An algorithm for pose and motion estimation using corresponding features in images and a digital terrain map is proposed. Using a Digital Terrain (or Digital Elevation) Map (DTM/DEM) as a global reference enables recovering the absolute…

This paper proposes a method for tight fusion of visual, depth and inertial data in order to extend robotic capabilities for navigation in GPS-denied, poorly illuminated, and texture-less environments. Visual and depth information are fused…

A fundamental requirement for full autonomy is the ability to sustain accurate navigation in the absence of external data, such as GNSS signals or visual information. In these challenging environments, the platform must rely exclusively on…

We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions…

This paper details the design and implementation of a system for predicting and interpolating object location coordinates. Our solution is based on processing inertial measurements and global positioning system data through a Long…

Traditional pedestrian collision warning systems sometimes raise alarms even when there is no danger (e.g., when all pedestrians are walking on the sidewalk). These false alarms can make it difficult for drivers to concentrate on their…

Aiming to enhance the consistency and thus long-term accuracy of Extended Kalman Filters for terrestrial vehicle localization, this paper introduces the Manifold Error State Extended Kalman Filter (M-ESEKF). By representing the robot's pose…

Accurate estimation of the whole-body center of mass (CoM) is essential for assessing human stability and postural control. However, selecting the most accurate estimation method is challenging due to the complexity of human movement,…

This paper presents an outdoor tracking system using Real-Time Kinematic (RTK) positioning and Optical See-Through Head Mounted Display(s) (OST-HMD(s)) in urban areas where the accurate tracking of objects is critical and where displaying…

A Magnetic field Aided Inertial Navigation System (MAINS) for indoor navigation is proposed in this paper. MAINS leverages an array of magnetometers to measure spatial variations in the magnetic field, which are then used to estimate the…

Multi-object tracking (MOT) is a prominent task in computer vision with application in autonomous driving, responsible for the simultaneous tracking of multiple object trajectories. Detection-based multi-object tracking (DBT) algorithms…

Occlusion poses a major challenge for person re-identification (ReID). Existing approaches typically rely on outside tools to infer visible body parts, which may be suboptimal in terms of both computational efficiency and ReID accuracy. In…