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

The initial alignment provides an accurate attitude for SINS (strapdown inertial navigation system). By further estimating the IMU's bias and misalignment angle, the recursive Bayesian filter is accurate. However, the prior heading error…

Current approaches to object-oriented SLAM lack the ability to incorporate prior knowledge of the scene geometry, such as the expected global orientation of objects. We overcome this limitation by proposing a geometric factor that…

An automatic elastic registration method suited for vascularized organs is proposed. The vasculature in both the preoperative and intra-operative images is represented as a graph. A typical application of this method is the fusion of…

Imitation learning is a powerful paradigm for robot skill acquisition, yet conventional demonstration methods--such as kinesthetic teaching and teleoperation--are cumbersome, hardware-heavy, and disruptive to workflows. Recently, passive…

Magnetic surveys are conventionally performed by scanning a domain with a portable scalar magnetic sensor. Unfortunately, scalar magnetometers are expensive, power consuming and bulky. In many applications, calibrated vector magnetometers…

This paper presents a real-time calibration method for gyro sensors in consumer portable devices. The calibration happens automatically without the need for external equipment or user intervention. Multi-level constraints, including the…

In this paper, we introduce dynamics factor graphs as a graphical framework to solve dynamics problems and kinodynamic motion planning problems with full consideration of whole-body dynamics and contacts. A factor graph representation of…

This paper presents a new approach for integrating semantic information for vision-based vehicle navigation. Although vision-based vehicle navigation systems using pre-mapped visual landmarks are capable of achieving submeter level accuracy…

Atomic magnetometry is one of the most sensitive ways to measure magnetic fields. We present a method for converting a naturally scalar atomic magnetometer into a vector magnetometer by exploiting the polarization dependence of hyperfine…

We demonstrate identification of position, material, orientation and shape of objects imaged by an $^{85}$Rb atomic magnetometer performing electromagnetic induction imaging supported by machine learning. Machine learning maximizes the…

A new code, named MAP, is written in Fortran language for magnetohydrodynamics (MHD) calculation with the adaptive mesh refinement (AMR) and Message Passing Interface (MPI) parallelization. There are several optional numerical schemes for…

Using actual flight data from a 50-cm-class microsatellite whose mission and operations have already been completed, this study re-evaluates satellite attitude determination performance and the error characteristics of onboard attitude…

We present a heuristic strategy for marginal MAP (MMAP) queries in graphical models. The algorithm is based on a reduction of the task to a polynomial number of marginal inference computations. Given an input evidence, the marginals mass…

MOOC recommendation systems have received increasing attention to help learners navigate and select preferred learning content. Traditional methods such as collaborative filtering and content-based filtering suffer from data sparsity and…

We propose a computationally efficient algorithm for seizure detection. Instead of using a purely data-driven approach, we develop a hybrid model-based/data-driven method, combining convolutional neural networks with factor graph inference.…

Electroencephalogram (EEG) based brain-computer interface (BCI) systems are useful tools for clinical purposes like neural prostheses. In this study, we collected EEG signals related to grasp motions. Five healthy subjects participated in…

Mitral regurgitation (MR) is a heart valve disease with potentially fatal consequences that can only be forestalled through timely diagnosis and treatment. Traditional diagnosis methods are expensive, labor-intensive and require clinical…

Inertial navigation systems (INS) are widely used in both manned and autonomous platforms. One of the most critical tasks prior to their operation is to accurately determine their initial alignment while stationary, as it forms the…

Attitude estimation methods typically rely on full vector measurements from inertial sensors such as accelerometers and magnetometers. This paper shows that reliable estimation can also be achieved using only scalar measurements, which…

In this paper, we present a novel factor graph formulation to estimate the pose and velocity of a quadruped robot on slippery and deformable terrain. The factor graph introduces a preintegrated velocity factor that incorporates velocity…