相关论文: A New Self-Alignment Method without Solving Wahba …

Global Positioning System (GPS) satellites are essential for providing accurate navigation and timing information worldwide. Operating in medium Earth orbit (MEO), these satellites must maintain precise Earth-pointing attitudes to transmit…

For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…

This article proposes an inertial navigation algorithm intended to lower the negative consequences of the absence of GNSS (Global Navigation Satellite System) signals on the navigation of autonomous fixed wing low SWaP (Size, Weight, and…

We propose a stereo vision-based approach for tracking the camera ego-motion and 3D semantic objects in dynamic autonomous driving scenarios. Instead of directly regressing the 3D bounding box using end-to-end approaches, we propose to use…

Due to the inability to receive signals from the Global Navigation Satellite System (GNSS) in extreme conditions, achieving accurate and robust navigation for Unmanned Aerial Vehicles (UAVs) is a challenging task. Recently emerged,…

Autonomous landing of Unmanned Aerial Vehicles on maritime vessels is challenging due to the coupled motion of the vehicle and landing platform in open-sea conditions. This paper presents a reinforcement-learning-based approach for…

Low-cost inertial navigation sensors (INS) can be exploited for a reliable tracking solution for autonomous vehicles. However, position errors grow exponentially due to noises in the measurements. Several deep learning techniques have been…

We propose an attitude and gyro-bias estimation scheme for accelerated rigid body systems using an inertial measurement unit (IMU) and a global positioning system (GPS). The proposed scheme allows to obtain attitude estimates directly on…

Error distribution analysis is an important assistant technology for the research of SINS(Strapdown Inertial Navigation System). Error distribution result can provide the contribution of different errors to final navigation error, which is…

This paper presents a novel online capable method for simultaneous estimation of human motion in terms of segment orientations and positions along with sensor-to-segment calibration parameters from inertial sensors attached to the body. In…

Due to the difficulty of replicating the real conditions during training, supervised algorithms for spacecraft pose estimation experience a drop in performance when trained on synthetic data and applied to real operational data. To address…

We propose a new position control strategy for VTOL-UAVs using IMU and GPS measurements. Since there is no sensor that measures the attitude, our approach does not rely on the knowledge (or reconstruction) of the system orientation as…

Face alignment aims to estimate the locations of a set of landmarks for a given image. This problem has received much attention as evidenced by the recent advancement in both the methodology and performance. However, most of the existing…

In this paper, we study methods to estimate drivers' posture in vehicles using acceleration data of wearable sensor and conduct a field test. Recently, sensor technologies have been progressed. Solutions of safety management to analyze…

In this paper, we introduce HEADS-UP, the first egocentric dataset collected from head-mounted cameras, designed specifically for trajectory prediction in blind assistance systems. With the growing population of blind and visually impaired…

This paper considers the problem of simultaneous estimation of the attitude, position and linear velocity for vehicles navigating in a three-dimensional space. We propose two types of hybrid nonlinear observers using continuous angular…

Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…

Recently, along with interest in autonomous vehicles, the importance of monitoring systems for both drivers and passengers inside vehicles has been increasing. This paper proposes a novel in-vehicle monitoring system the combines 3D pose…

The rigid-body attitude tracking using vector and biased gyro measurements with unknown inertia matrix is studied in this note. First, a gyro-bias observer with global exponential stability is designed. Then, an attitude tracking controller…

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…