相关论文: An Inertial Sequence Learning Framework for Vehicl…
Navigation in Global Positioning Systems (GPS)-denied environments requires robust estimators reliant on fusion of inertial sensors able to estimate rigid-body's orientation, position, and linear velocity. Ultra-wideband (UWB) and Inertial…
This paper proposes a low-cost six Degree-of-Freedom (6-DOF) navigation system for small aerial robots based on the integration of Global Position System (GPS) receiver with sensors of inertional Microelectromechanical Systems (MEMS). In…
For handheld smartphone AR interactions, bandwidth is a critical constraint. Streaming techniques have been developed to provide a seamless and high-quality user experience despite these challenges. To optimize streaming performance in…
This research introduces an innovative method for the early screening of cardiorespiratory diseases based on an acquisition protocol, which leverages commodity smartphone's Inertial Measurement Units (IMUs) and deep learning techniques. We…
A significant limitation of current smartphone-based eye-tracking algorithms is their low accuracy when applied to video-type visual stimuli, as they are typically trained on static images. Also, the increasing demand for real-time…
Global Navigation Satellite Systems enable precise localization and timing even for highly mobile devices, but legacy implementations provide only limited support for the new generation of security-enhanced signals. Inertial Measurement…
Aligning a robot's trajectory or map to the inertial frame is a critical capability that is often difficult to do accurately even though inertial measurement units (IMUs) can observe absolute roll and pitch with respect to gravity.…
Inertial measurement units (IMUs), which provide high-frequency linear acceleration and angular velocity measurements, serve as fundamental sensing modalities in robotic systems. Recent advances in deep neural networks have led to…
We demonstrate a novel deep neural network capable of reconstructing human full body pose in real-time from 6 Inertial Measurement Units (IMUs) worn on the user's body. In doing so, we address several difficult challenges. First, the…
To improve the accuracy and robustness of the inertial navigation systems (INS) for wheeled robots without adding additional component cost, we propose Wheel-INS, a complete dead reckoning solution based on a wheel-mounted…
Positional estimation is of great importance in the public safety sector. Emergency responders such as fire fighters, medical rescue teams, and the police will all benefit from a resilient positioning system to deliver safe and effective…
In this paper we propose a new analytical preintegration theory for graph-based sensor fusion with an inertial measurement unit (IMU) and a camera (or other aiding sensors).Rather than using discrete sampling of the measurement dynamics as…
Objective: Our aim is to determine if data collected with inertial measurement units (IMUs) during steady-state running could be used to estimate ground reaction forces (GRFs) and to derive biomechanical variables (e.g., contact time,…
Low-cost inertial measurement units (IMUs) are widely utilized in mobile robot localization due to their affordability and ease of integration. However, their complex, nonlinear, and time-varying noise characteristics often lead to…
This short paper presents research findings on two learning-based methods for quantifying measurement uncertainties in global navigation satellite systems (GNSS). We investigate two learning strategies: offline learning for outlier…
This paper develops, implements, and validates a powerful single-antenna carrier-phase-based test to detect Global Navigation Satellite Systems (GNSS) spoofing attacks on ground vehicles equipped with a low-cost inertial measurement unit…
The fusion of visual and inertial measurements is becoming more and more popular in the robotics community since both sources of information complement well each other. However, in order to perform this fusion, the biases of the Inertial…
Visual-inertial SLAM is crucial in various fields, such as aerial vehicles, industrial robots, and autonomous driving. The fusion of camera and inertial measurement unit (IMU) makes up for the shortcomings of a signal sensor, which…
Attitude determination using the smartphone's inertial sensors poses a major challenge due to the sensor low-performance grade and variate nature of the walking pedestrian. In this paper, data-driven techniques are employed to address that…
We present a novel algorithm for online, real-time orientation estimation. Our algorithm integrates gyroscope data and corrects the resulting orientation estimate for integration drift using accelerometer and magnetometer data. This…