相关论文: Towards a Factor Graph-Based Method using Angular …
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…
Many experimental efforts are striving to provide deep maps of the cosmic microwave background (CMB) to shed light on key questions in modern cosmology. The primary science goal for some of these experiments is to further constrain the…
Purpose: Microsurgical Aneurysm Clipping Surgery (MACS) carries a high risk for intraoperative aneurysm rupture. Automated recognition of instances when the aneurysm is exposed in the surgical video would be a valuable reference point for…
Time-equispaced inertial measurements are practically used as inputs for motion determination. Polynomial interpolation is a common technique of recovering the gyroscope signal but is subject to a fundamentally numerical stability problem…
Many robotics and mapping systems contain multiple sensors to perceive the environment. Extrinsic parameter calibration, the identification of the position and rotation transform between the frames of the different sensors, is critical to…
In this paper, we propose an algorithm to combine multiple cheap Inertial Measurement Unit (IMU) sensors to calculate 3D-orientations accurately. Our approach takes into account the inherent and non-negligible systematic error in the…
As robots become more prevalent, optimizing their design for better performance and efficiency is becoming increasingly important. However, current robot design practices overlook the impact of perception and design choices on a robot's…
Vision based and event based tactile sensors are important in robotic manipulation research. However, they suffer from a fundamental tradeoff: vision based sensors have low sampling rates, while event based sensors are prone to drift during…
Phased-array Bluetooth systems have emerged as a low-cost alternative for performing aided inertial navigation in GNSS-denied use cases such as warehouse logistics, drone landings, and autonomous docking. Basing a navigation system off of…
Unlike a traditional gyroscope, a visual gyroscope estimates camera rotation through images. The integration of omnidirectional cameras, offering a larger field of view compared to traditional RGB cameras, has proven to yield more accurate…
Single-view RGB object pose estimators have reached a level of precision and efficiency that makes them good candidates for vision-based robot control. However, off-the-shelf methods lack temporal consistency and robustness that are…
It is difficult to estimate the midsagittal plane of human subjects with craniomaxillofacial (CMF) deformities. We have developed a LAndmark GEometric Routine (LAGER), which automatically estimates a midsagittal plane for such subjects. The…
Atomic magnetometers (AMs) offer many advantages over superconducting quantum interference devices (SQUIDs) due to, among other things, having comparable sensitivity while not requiring cryogenics. One of the major limitations of AMs is the…
Micro scanning mirrors (MSM) extend the range and field of view of LiDARs, medical imaging devices, and laser projectors. However, a new class of soft-hinged MSMs contains out-of-plane translation in addition to the 2 degree-of-freedom…
Hand-eye calibration is an important task in vision-guided robotic systems and is crucial for determining the transformation matrix between the camera coordinate system and the robot end-effector. Existing methods, for multi-view robotic…
Sensor-to-segment calibration is a crucial step in inertial motion tracking. When two segments are connected by a hinge joint, for example in human knee and finger joints as well as in many robotic limbs, then the joint axis vector must be…
We present and analyze methods for the kinematic and kinetostatic calibration of, typically, wrist mounted force/torque sensors in robotics. The algorithms are based on matrix factorization and require no special equipment. The only…
This study proposes an accurate method to estimate human body orientation using a millimeter-wave radar system. Body displacement is measured from the phase of the radar echo, which is analyzed to obtain features associated with the…
The Mingantu Spectral Radioheliograph (MUSER), a new generation of solar dedicated radio imaging-spectroscopic telescope, has realized high-time, high-angular, and high-frequency resolution imaging of the sun over an ultra-broadband…
Indoor magnetic fields are a combination of Earth's magnetic field and disruptions induced by ferromagnetic objects, such as steel structural components in buildings. As a result of these disruptions, pervasive in indoor spaces, magnetic…