相关论文: High-Performance Motorbike Lean Angle Estimation

Understanding and predicting highway lane-change maneuvers is essential for driving modeling and its automation. The development of data-based lane-changing decision-making algorithms is nowadays in full expansion. We compare empirically in…

Rotation speed is a key metric for many applications, such as calibrating electric motors in a factory, monitoring a car's engine health, detecting faults in electrical appliances, and more. However, existing measurement techniques have…

Bicycle Power Meters have become ubiquitous in professional and amateur cycling. These devices claim high levels of accuracy, and this accuracy is indeed essential if they are to serve their purpose as reliable training aids and indicators…

Many sources of errors exist in the manufacturing process of complex shapes. Some approximations occur at each step from the design geometry to the machined part. The aim of the paper is to present a method to evaluate the effect of high…

This paper proposes a state estimator for legged robots operating in slippery environments. An Invariant Extended Kalman Filter (InEKF) is implemented to fuse inertial and velocity measurements from a tracking camera and leg kinematic…

We study methods to estimate drivers' posture in vehicles using acceleration data of wearable sensor and conduct field tests. To prevent fatal accidents, demands for safety management of bus and taxi are high. However, acceleration of…

The paper addresses state estimation for linear discrete-time systems with binary (threshold) measurements. A Moving Horizon Estimation (MHE) approach is followed and different estimators, characterized by two different choices of the cost…

In the case of a linear state space model, we implement an MCMC sampler with two phases. In the learning phase, a self-tuning sampler is used to learn the parameter mean and covariance structure. In the estimation phase, the parameter mean…

A sensitivity-based approach for computing over-approximations of reachable sets, in the presence of constant parameter uncertainties and a single initial state, is used to analyze a three-link planar robot modeling a Powered Lower Limb…

Tool flank wear monitoring can minimize machining downtime costs while increasing productivity and product quality. In some industrial applications, only a limited level of tool wear is allowed to attain necessary tolerances. It may become…

Inertial Navigation Systems (INS) are algorithms that fuse inertial measurements of angular velocity and specific acceleration with supplementary sensors including GNSS and magnetometers to estimate the position, velocity and attitude, or…

Ultrasound imaging has recently been introduced as a sensing interface for joint motion estimation. The use of ultrasound images as an estimation method is expected to improve the control performance of assistive devices and human--machine…

Ensuring accurate and stable state estimation is a challenging task crucial to safety-critical domains such as high-speed autonomous racing, where measurement uncertainty must be both adaptive to the environment and temporally smooth for…

Linear quadratic Gaussian (LQG) control is a well-established method for optimal control through state estimation, particularly in stabilizing an inverted pendulum on a cart. In standard laboratory setups, sensor redundancy enables direct…

Autonomous driving is becoming one of the leading industrial research areas. Therefore many automobile companies are coming up with semi to fully autonomous driving solutions. Among these solutions, lane detection is one of the vital…

High-frequency and accurate state estimation is crucial for biped robots. This paper presents a tightly-coupled LiDAR-Inertial-Kinematic Odometry (LIKO) for biped robot state estimation based on an iterated extended Kalman filter. Beyond…

Vision is one of the primary sensing modalities in autonomous driving. In this paper we look at the problem of estimating the velocity of road vehicles from a camera mounted on a moving car. Contrary to prior methods that train end-to-end…

Bike-sharing systems are a means of smart transportation in urban environments with the benefit of a positive impact on urban mobility. In this paper we are interested in studying and modeling the behavior of features that permit the end…

This paper presents a computationally efficient method for vehicle speed estimation from traffic camera footage. Building upon previous work that utilizes 3D bounding boxes derived from 2D detections and vanishing point geometry, we…

This work presents a contracting hierarchical observer that fuses position and orientation measurements with an IMU to generate smooth position, linear velocity, orientation, and IMU bias estimates that are guaranteed to converge to their…