相关论文: An Inertial Sequence Learning Framework for Vehicl…

We aim to enable robots to visually localize a target person through the aid of an additional sensing modality -- the target person's 3D inertial measurements. The need for such technology may arise when a robot is to meet person in a crowd…

The Global Positioning Systems (GPS) and Inertial Navigation System (INS) technology have attracted a considerable importance recently because of its large number of solutions serving both military as well as civilian applications. This…

Inertial odometry (IO) using only Inertial Measurement Units (IMUs) offers a lightweight and cost-effective solution for Unmanned Aerial Vehicle (UAV) applications, yet existing learning-based IO models often fail to generalize to UAVs due…

In order to make robots more useful in a variety of environments, they need to be highly portable so that they can be transported to wherever they are needed, and highly storable so that they can be stored when not in use. We propose…

Navigating in off-road environments for wheeled mobile robots is challenging due to dynamic and rugged terrain. Traditional physics-based stability metrics, such as Static Stability Margin (SSM) or Zero Moment Point (ZMP) require knowledge…

Precise, consistent, and reliable positioning is crucial for a multitude of uses. In order to achieve high precision global positioning services, multi-sensor fusion techniques, such as the Global Navigation Satellite System (GNSS)/Inertial…

We present a robust control and estimation framework for quadrotors operating in Global Navigation Satellite System(GNSS)-denied, non-inertial environments where inertial sensors such as Inertial Measurement Units (IMUs) become unreliable…

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…

Small mobile robots are an important class of Search and Rescue Robots. Integrating all required components into such small robots is a difficult engineering task. Smartphones have already been made small, lightweight and cheap by the…

An inertial navigation system (INS) utilizes three orthogonal accelerometers and gyroscopes to determine platform position, velocity, and orientation. There are countless applications for INS, including robotics, autonomous platforms, and…

Smartphones equipped with sensors such as accelerometers, gyroscopes, and magnetometers offer valuable opportunities for physics education, allowing students to measure motion using their own devices. However, commonly used applications…

Autonomous driving has spurred the development of sensor fusion techniques, which combine data from multiple sensors to improve system performance. In particular, localization system based on sensor fusion , such as Visual Simultaneous…

The joint detection of drivable areas and road anomalies is a crucial task for ground mobile robots. In recent years, many impressive semantic segmentation networks, which can be used for pixel-level drivable area and road anomaly…

This paper addresses the problem of estimating the attitude of a rigid body, which is subject to high accelerations and equipped with inertial measurement unit (IMU) and sensors providing the body velocity (expressed in the reference frame…

We present a method to improve the accuracy of a foot-mounted, zero-velocity-aided inertial navigation system (INS) by varying estimator parameters based on a real-time classification of motion type. We train a support vector machine (SVM)…

Synchronisation of wireless inertial measurement units in human movement analysis is often achieved using event-based synchronisation techniques. However, these techniques lack precise event generation and accuracy. An inaccurate…

Autism Spectrum Disorders are associated with atypical movements, of which stereotypical motor movements (SMMs) interfere with learning and social interaction. The automatic SMM detection using inertial measurement units (IMU) remains…

Autonomous mobile robots are widely used for navigation, transportation, and inspection tasks indoors and outdoors. In practical situations of limited satellite signals or poor lighting conditions, navigation depends only on inertial…

3D Gaussian Splatting (3DGS) has recently emerged as a powerful representation of geometry and appearance for dense Simultaneous Localization and Mapping (SLAM). Through rapid, differentiable rasterization of 3D Gaussians, many 3DGS SLAM…

LiDAR-based 3D mapping suffers from cumulative drift causing global misalignment, particularly in GNSS-constrained environments. To address this, we propose a unified framework that fuses LiDAR, GNSS, and IMU data for high-resolution…