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This paper proposes a novel method for vision-based metric cross-view geolocalization (CVGL) that matches the camera images captured from a ground-based vehicle with an aerial image to determine the vehicle's geo-pose. Since aerial images…
In this paper, a method to detect environmental hazards related to a fall risk using a mobile vision system is proposed. First-person perspective videos are proposed to provide objective evidence on cause and circumstances of perturbed…
The calibration and analysis of polarization observations in Very Long Baseline Interferometry (VLBI) requires the use of specific algorithms that suffer from several limitations, closely related to assumptions in the data properties that…
Navigation and localization of UAVs present a challenge when global navigation satellite systems (GNSS) are disrupted and unreliable. Traditional techniques, such as simultaneous localization and mapping (SLAM) and visual odometry (VO),…
As large language models (LLMs) are increasingly deployed in high-stakes applications, robust uncertainty estimation is essential for ensuring the safe and trustworthy deployment of LLMs. We present the most comprehensive study to date of…
Visible light positioning (VLP) is an accurate indoor positioning technology that uses luminaires as transmitters. In particular, circular luminaires are a common source type for VLP, that are typically treated only as point sources for…
Stroke patients often experience upper limb impairments that restrict their mobility and daily activities. Physical therapy (PT) is the most effective method to improve impairments, but low patient adherence and participation in PT…
Accurately diagnosing bearing faults is crucial for maintaining the efficient operation of rotating machinery. However, traditional diagnosis methods face challenges due to the diversification of application environments, including…
Navigation solutions suitable for cases when both autonomous robot's pose (\textit{i.e}., attitude and position) and its environment are unknown are in great demand. Simultaneous Localization and Mapping (SLAM) fulfills this need by…
In this paper, WALK-VIO, a novel visual-inertial odometry (VIO) with walking-motion-adaptive leg kinematic constraints that change with body motion for localization of quadruped robots, is proposed. Quadruped robots primarily use VIO…
This work devises an optimized machine learning approach for human arm pose estimation from a single smartwatch. Our approach results in a distribution of possible wrist and elbow positions, which allows for a measure of uncertainty and the…
Underwater environments pose significant challenges for visual Simultaneous Localization and Mapping (SLAM) systems due to limited visibility, inadequate illumination, and sporadic loss of structural features in images. Addressing these…
Background: Pressure mapping technology has been adapted to monitor over prolonged periods to evaluate pressure ulcer risk in individuals during extended lying postures. However, temporal pressure distribution signals are not currently used…
The reactions of the human body to physical exercise, psychophysiological stress and heart diseases are reflected in heart rate variability (HRV). Thus, continuous monitoring of HRV can contribute to determining and predicting issues in…
Localization is an important required task for enabling vehicle autonomy for underwater vehicles. Localization entails the determination of position of the center of mass and orientation of a vehicle from the available measurements. In this…
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…
Safety and automatic control are extremely important when operating manipulators. For large engineering manipulators, the main challenge is to accurately recognize the posture of all arm segments. In classical sensing methods, the accuracy…
Human movement analysis is crucial in health and sports biomechanics for understanding physical performance, guiding rehabilitation, and preventing injuries. However, existing tools are often proprietary, expensive, and function as "black…
To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significant challenges on software and algorithm design, especially…
As positioning solutions integrate multiple components to improve accuracy, the number of parameters that require calibration has increased. This paper studies a calibration-free positioning technique using Wi-Fi ranging and pedestrian dead…