相关论文: FTIN: Frequency-Time Integration Network for Inert…

In this work, we propose a novel method for performing inertial aided navigation, by using deep neural networks (DNNs). To date, most DNN inertial navigation methods focus on the task of inertial odometry, by taking gyroscope and…

In this communication, we propose a framework for amalgamating optical-orthogonal frequency-division multiplexing (O-OFDM) and O-OFDM with index modulation (O-OFDM-IM) for optical wireless systems. Both schemes individually have some…

Time-encoding of continuous-time signals is an alternative sampling paradigm to conventional methods such as Shannon's sampling. In time-encoding, the signal is encoded using a sequence of time instants where an event occurs, and hence fall…

Intrinsic Frequency (IF) has recently been introduced as an ample signal processing method for analyzing carotid and aortic pulse pressure tracings. The IF method has also been introduced as an effective approach for the analysis of…

Inertial localisation is an important technique as it enables ego-motion estimation in conditions where external observers are unavailable. However, low-cost inertial sensors are inherently corrupted by bias and noise, which lead to unbound…

In this article, we propose an index modulation system suitable for optical communications, based on jointly driving the time and frequency of the signal: an index-time frequency hopping (I-TFH) system. We analyze its performance from the…

Building a complete inertial navigation system using the limited quality data provided by current smartphones has been regarded challenging, if not impossible. This paper shows that by careful crafting and accounting for the weak…

Orthogonal time frequency space (OTFS) is a promising alternative to orthogonal frequency division multiplexing (OFDM) for high-mobility communications. We propose a novel multiple-input multiple-output (MIMO) integrated sensing and…

In this paper, we propose a unified information theoretic framework for learning-motivated methods aimed at odometry estimation, a crucial component of many robotics and vision tasks such as navigation and virtual reality where relative…

Inertial measurement units (IMUs) are fundamental sensing components in multi-source integrated navigation systems, and their performance directly determines the accuracy and reliability of solutions. However, the precision of low-cost IMUs…

Camera-IMU (Inertial Measurement Unit) sensor fusion has been extensively studied in recent decades. Numerous observability analysis and fusion schemes for motion estimation with self-calibration have been presented. However, it has been…

The fractional Fourier transform (FrFT), a fundamental operation in physics that corresponds to a rotation of phase space by any angle, is also an indispensable tool employed in digital signal processing for noise reduction. Processing of…

Among inferential problems in functional data analysis, domain selection is one of the practical interests aiming to identify sub-interval(s) of the domain where desired functional features are displayed. Motivated by applications in…

We propose a continuous-time spline-based formulation for visual-inertial odometry (VIO). Specifically, we model the poses as a cubic spline, whose temporal derivatives are used to synthesize linear acceleration and angular velocity, which…

For many years, there has been an impressive progress on visual odometry applied to mobile robots and drones. However, the visual perception is still in the spotlight as a challenging field because the vision sensor has some problems in…

In robotic navigation, maintaining precise pose estimation and navigation in complex and dynamic environments is crucial. However, environmental challenges such as smoke, tunnels, and adverse weather can significantly degrade the…

We present a robust system for state estimation that fuses measurements from multiple lidars and inertial sensors with GNSS data. To initiate the method, we use the prior GNSS pose information. We then perform incremental motion in…

Current approaches for visual-inertial odometry (VIO) are able to attain highly accurate state estimation via nonlinear optimization. However, real-time optimization quickly becomes infeasible as the trajectory grows over time, this problem…

Visual-Inertial odometry (VIO) is known to suffer from drifting especially over long-term runs. In this paper, we present GVINS, a non-linear optimization based system that tightly fuses GNSS raw measurements with visual and inertial…

Visual-inertial odometry (VIO) is widely used in various fields, such as robots, drones, and autonomous vehicles. However, real-world scenes often feature dynamic objects, compromising the accuracy of VIO. The diversity and partial…