相关论文: Towards a Factor Graph-Based Method using Angular …

This paper presents an efficient servomotor-aided calibration method for the triaxial gyroscope. The entire calibration process only requires approximately one minute, and does not require high-precision equipment. This method is based on…

A Magnetic field Aided Inertial Navigation System (MAINS) for indoor navigation is proposed in this paper. MAINS leverages an array of magnetometers to measure spatial variations in the magnetic field, which are then used to estimate the…

Optically pumped magnetometers (OPMs) are compact and lightweight sensors that can measure magnetic fields generated by current flow in neuronal assemblies in the brain. Such sensors enable construction of magnetoencephalography (MEG)…

In this paper, we propose a method to estimate the position, orientation and gain of a magnetic field sensor using a set of (large) electromagnetic coils. We apply the method for calibrating an array of optically pumped magnetometers (OPMs)…

We propose a new sampler for robust estimators that always selects the sample with the highest probability of consisting only of inliers. After every unsuccessful iteration, the inlier probabilities are updated in a principled way via a…

A yoke-based permanent magnet, which has been employed in many watt balances at national metrology institutes, is supposed to generate strong and uniform magnetic field in an air gap in the radial direction. However, in reality the fringe…

Eye gaze can provide rich information on human psychological activities, and has garnered significant attention in the field of Human-Robot Interaction (HRI). However, existing gaze estimation methods merely predict either the gaze…

Hand-eye calibration is the problem of solving the transformation from the end-effector of a robot to the sensor attached to it. Commonly employed techniques, such as AXXB or AXZB formulations, rely on regression methods that require…

Evaluating simultaneous localization and mapping (SLAM) algorithms necessitates high-precision and dense ground truth (GT) trajectories. But obtaining desirable GT trajectories is sometimes challenging without GT tracking sensors. As an…

This paper describes a novel method for calibrating dc-precise magnetometers in the low field range (100 uT), which gives acceptable results even in laboratory conditions with significant magnetic interference. By introducing a closely…

In this paper a new method for geometric robot calibration is introduced, which uses a calibration plate with precisely known distances between its measuring points. The relative measurement between two points on the calibration plate is…

We present a new measure, CMetric, to classify driver behaviors using centrality functions. Our formulation combines concepts from computational graph theory and social traffic psychology to quantify and classify the behavior of human…

In this paper, we discuss the convergence of an Algebraic MultiGrid (AMG) method for general symmetric positive-definite matrices. The method relies on an aggregation algorithm, named \emph{coarsening based on compatible weighted matching},…

Localization of autonomous mobile robots (AMRs) in enclosed or semi-enclosed environments such as offices, hotels, hospitals, indoor parking facilities, and underground spaces where GPS signals are weak or unavailable remains a major…

This is the last of three papers describing an `absolute' calibration of the GONG magnetograph using and end-to-end simulation of its measurement process. The simulation begins with a MURaM 3D MHD datacube and ends with a `synthetic…

Navigating and localizing in partially observable, stochastic environments with magnetic anomalies presents significant challenges, especially when balancing the accuracy of state estimation and the stability of localization. Traditional…

Advances in autonomous driving are inseparable from sensor fusion. Heterogeneous sensors are widely used for sensor fusion due to their complementary properties, with radar and camera being the most equipped sensors. Intrinsic and extrinsic…

We introduce a vector atomic magnetometer that employs a fast-rotating magnetic field applied to a pulsed $^{87}$Rb scalar atomic magnetometer. This approach enables simultaneous measurements of the total magnetic field and its two polar…

Rigid motion computation or estimation is a cornerstone in numerous fields. Attitude computation can be achieved by integrating the angular velocity measured by gyroscopes, the accuracy of which is crucially important for the dead-reckoning…

A fault detection and isolation method for satellite rate gyros is proposed based on using the satellite-to-satellite measurements such as relative position beside orbit parameters of the primary satellite. By finding a constant of motion,…