相关论文: Improved Calibration Procedure for Wireless Inerti…

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…

LiDAR-based 3D mapping suffers from cumulative drift causing global misalignment, particularly in GNSS-constrained environments. To address this, we propose a unified framework that fuses LiDAR, GNSS, and IMU data for high-resolution…

Calibration precision is currently a limiting systematic in 21 cm cosmology experiments. While there are innumerable calibration approaches, most can be categorized as either `sky-based,' relying on an extremely accurate model of…

Recently, the progress in the radar sensing technology consisting in the miniaturization of the packages and increase in measuring precision has drawn the interest of the robotics research community. Indeed, a crucial task enabling autonomy…

Current traditional methods for LiDAR-camera extrinsics estimation depend on offline targets and human efforts, while learning-based approaches resort to iterative refinement for calibration results, posing constraints on their…

We propose a multi-sensor fusion method for capturing challenging 3D human motions with accurate consecutive local poses and global trajectories in large-scale scenarios, only using single LiDAR and 4 IMUs, which are set up conveniently and…

Mapping algorithms that rely on registering point clouds inevitably suffer from local drift, both in localization and in the built map. Applications that require accurate maps, such as environmental monitoring, benefit from additional…

Sensitivity analysis for measurement error can be applied in the absence of validation data by means of regression calibration and simulation-extrapolation. These have not been compared for this purpose. A simulation study was conducted…

Sensor calibration, which can be intrinsic or extrinsic, is an essential step to achieve the measurement accuracy required for modern perception and navigation systems deployed on autonomous robots. To date, intrinsic calibration models for…

Tilts of certain elements within a laser interferometer can undesirably couple into measurements as a form of noise, known as tilt-to-length (TTL) coupling. This TTL coupling is anticipated to be one of the primary noise sources in the…

Inertial-aided systems require continuous motion excitation among other reasons to characterize the measurement biases that will enable accurate integration required for localization frameworks. This paper proposes the use of informative…

Uncertainty estimates must be calibrated (i.e., accurate) and sharp (i.e., informative) in order to be useful. This has motivated a variety of methods for recalibration, which use held-out data to turn an uncalibrated model into a…

We present IF-D, a large-scale inertial dataset designed to enable self-supervised and foundational learning for IMU time series. IF-D comprises continuous, long-duration multichannel recordings (accelerometer, gyroscope, magnetometer)…

The calibration technique for accelerometers has been internationally developed for up to 20 kHz to ensure the reliability of vibration measurement. However, it has been established that the calibrated sensitivity changes at over 10 kHz…

This paper describes hardware and software improvements of the INRIM coaxial microcalorimeter together with their outcome on the primary power standard realization in the frequency band 0.05 - 40 GHz. A better temperature and power…

Estimating the limbs pose in a wearable way may benefit multiple areas such as rehabilitation, teleoperation, human-robot interaction, gaming, and many more. Several solutions are commercially available, but they are usually expensive or…

To fuse information from inertial measurement units (IMU) with other sensors one needs an accurate model for IMU error propagation in terms of position, velocity and orientation, a triplet we call extended pose. In this paper we leverage a…

This paper presents MEMROC (Multi-Eye to Mobile RObot Calibration), a novel motion-based calibration method that simplifies the process of accurately calibrating multiple cameras relative to a mobile robot's reference frame. MEMROC utilizes…

We study the calibration process in circular ultrasound tomography devices where the sensor positions deviate from the circumference of a perfect circle. This problem arises in a variety of applications in signal processing ranging from…

Connected and cooperative driving requires precise calibration of the roadside infrastructure for having a reliable perception system. To solve this requirement in an automated manner, we present a robust extrinsic calibration method for…