相关论文: High-Performance Motorbike Lean Angle Estimation

Inertial sensors based on micro-electromechanical systems (MEMS) technology, such as accelerometers and angular rate sensors, are cost-effective solutions used in inertial navigation systems in a broad spectrum of applications that estimate…

This paper introduces a novel proprioceptive state estimator for legged robots based on a learned displacement measurement from IMU data. Recent research in pedestrian tracking has shown that motion can be inferred from inertial data using…

This paper introduces a novel proprioceptive state estimator for legged robots that combines model-based filters and deep neural networks. Recent studies have shown that neural networks such as multi-layer perceptron or recurrent neural…

In this paper, we propose a novel laser-inertial odometry and mapping method to achieve real-time, low-drift and robust pose estimation in large-scale highway environments. The proposed method is mainly composed of four sequential modules,…

Bicycle Power Meters have become ubiquitous as training aids in recent years. Many power meters purport to measure Left-Right Pedal Balance, which is a measure of the extent to which power generated by the application of torque to the left…

Industry 4.0 drives the demand for cost-efficient and reliable process data and condition monitoring. Therefore, visualizing the state of tribological contacts becomes important, as they are regularly found in the center of many…

This paper addresses the problem of simultaneous estimation of the position, linear velocity and orientation of a rigid body using single bearing measurements. We introduce a Riccati observer-based estimator that fuses measurements from a…

Inertial motion analysis is having a growing interest during the last decades due to its advantages over classical optical systems. The technological solution based on inertial measurement units allows the measurement of movements in daily…

Current developments of high-speed magnetic levitation technology using the principle of the electromagnet suspension (EMS) focus on reaching vehicle speeds of more than 600 km/h. With increasing vehicle speeds, however, updated control…

This paper presents a robust path following control method for vehicles that explicitly considers steering resistance dynamics to improve tracking accuracy. Conventional methods typically treat the steering angle as a direct control input;…

Based on machine learning techniques, we propose a novel method to estimate flow fields using only floating sensor locations. This method does not require either ground-truth velocity fields or governing equations for fluid flows, which is…

This paper introduces a framework based on linear splines for 2-dimensional extended object tracking and classification. Unlike state of the art models, linear splines allow to represent extended objects whose contour is an arbitrarily…

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…

The knowledge of the states of a vehicle is a necessity to perform proper planning and control. These quantities are usually accessible through measurements. Control theory brings extremely useful methods -- observers -- to deal with…

In this paper, we introduce a consistency-driven dual LSTM framework for accurately learning both the forward and inverse kinematics of a pneumatically actuated soft robotic arm integrated into a wearable device. This approach effectively…

Two nonlinear observers for velocity-aided attitude estimation, relying on gyrometers, accelerometers, magnetometers, and velocity measured in the body-fixed frame, are proposed. As opposed to state-of-the-art body-fixed velocity-aided…

This work presents a technique to estimate on-line the inertia of a power system based on ambient measurements. The proposed technique utilizes the covariance matrix of these measurements and solves an optimization problem that fits such…

Wheeled bipedal robots have garnered increasing attention in exploration and inspection. However, most research simplifies calculations by ignoring leg dynamics, thereby restricting the robot's full motion potential. Additionally, robots…

We introduce a new method for robust beamforming, where the goal is to estimate a signal from array samples when there is uncertainty in the angle of arrival. Our method offers state-of-the-art performance on narrowband signals and is…

We present a robust and real time approach to lane marker detection in urban streets. It is based on generating a top view of the road, filtering using selective oriented Gaussian filters, using RANSAC line fitting to give initial guesses…