相关论文: Multiple and Gyro-Free Inertial Datasets

Motivated by the goal of achieving robust, drift-free pose estimation in long-term autonomous navigation, in this work we propose a methodology to fuse global positional information with visual and inertial measurements in a tightly-coupled…

Navigation in Global Positioning Systems (GPS)-denied environments requires robust estimators reliant on fusion of inertial sensors able to estimate rigid-body's orientation, position, and linear velocity. Ultra-wideband (UWB) and Inertial…

We present a method of extrinsic calibration for a system of multiple inertial measurement units (IMUs) that estimates the relative pose of each IMU on a rigid body using only measurements from the IMUs themselves, without the need to…

The field of autonomous driving has grown tremendously over the past few years, along with the rapid progress in sensor technology. One of the major purposes of using sensors is to provide environment perception for vehicle understanding,…

Many robotic tasks rely on the accurate localization of moving objects within a given workspace. This information about the objects' poses and velocities are used for control,motion planning, navigation, interaction with the environment or…

Mobile robots are used in industrial, leisure, and military applications. In some situations, a robot navigation solution relies only on inertial sensors and as a consequence, the navigation solution drifts in time. In this paper, we…

In recent years, autonomous robots have become ubiquitous in research and daily life. Among many factors, public datasets play an important role in the progress of this field, as they waive the tall order of initial investment in hardware…

With the prevalence of wearable devices, inertial measurement unit (IMU) data has been utilized in monitoring and assessment of human mobility such as human activity recognition (HAR). Training deep neural network (DNN) models for these…

The ability to perform meaningful empirical studies is of essence in research in spatio-temporal query processing. Such studies are often necessary to gain detailed insight into the functional and performance characteristics of proposals…

Filter-based visual inertial navigation system (VINS) has attracted mobile-robot researchers for the good balance between accuracy and efficiency, but its limited mapping quality hampers long-term high-accuracy state estimation. To this…

A self-contained autonomous dead reckoning (DR) system is desired to complement the Global Navigation Satellite System (GNSS) for land vehicles, for which odometer-aided inertial navigation system (ODO/INS) is a classical solution. In this…

Mapping and localization is a critical module of autonomous driving, and significant achievements have been reached in this field. Beyond Global Navigation Satellite System (GNSS), research in point cloud registration, visual feature…

Strapdown inertial navigation research involves the parameterization and computation of the attitude, velocity and position of a rigid body in a chosen reference frame. The community has long devoted to finding the most concise and…

Inertial sensors based on cold atom interferometry exhibit many interesting features for applications related to inertial navigation, particularly in terms of sensitivity and long-term stability. However, at present the typical atom…

The design of navigation observers able to simultaneously estimate the position, linear velocity and orientation of a vehicle in a three-dimensional space is crucial in many robotics and aerospace applications. This problem was mainly dealt…

A plethora of state estimation techniques have appeared in the last decade using visual data, and more recently with added inertial data. Datasets typically used for evaluation include indoor and urban environments, where supporting videos…

Accurate and reliable navigation is crucial for autonomous unmanned ground vehicle (UGV). However, current UGV datasets fall short in meeting the demands for advancing navigation and mapping techniques due to limitations in sensor…

This paper addresses accurate pose estimation (position, velocity, and orientation) for a rigid body using a combination of generic inertial-frame and/or body-frame measurements along with an Inertial Measurement Unit (IMU). By embedding…

This paper proposes a novel algorithm to determine the optimal placement of redundant inertial sensors such as accelerometers and gyroscopes (gyros) for increasing the sensing accuracy. In this paper, we have proposed a novel iterative…

Nowadays, smartphones are not utilized for communications only. Smartphones are equipped with a lot of sensors that can be utilized for different purposes. For example, inertial sensors have been used extensively in recent years for…