相关论文: CKANIO: Learnable Chebyshev Polynomials for Inerti…

This systematic review explores the theoretical foundations, evolution, applications, and future potential of Kolmogorov-Arnold Networks (KAN), a neural network model inspired by the Kolmogorov-Arnold representation theorem. KANs…

Kolmogorov-Arnold Networks(KANs), as a theoretically efficient neural network architecture, have garnered attention for their potential in capturing complex patterns. However, their application in computer vision remains relatively…

Traditional constitutive models rely on hand-crafted parametric forms with limited expressivity and generalizability, while neural network-based models can capture complex material behavior but often lack interpretability. To balance these…

In estimating odometry accurately, an inertial measurement unit (IMU) is widely used owing to its high-rate measurements, which can be utilized to obtain motion information through IMU propagation. In this paper, we address the limitations…

Kolmogorov-Arnold Networks (KAN) models were recently proposed and claimed to provide improved parameter scaling and interpretability compared to conventional multilayer perceptron (MLP) models. Inspired by the KAN architecture, we propose…

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…

Monocular visual-inertial odometry (VIO) cannot recover metric scale from vision alone; scale must be resolved through inertial measurements. We present a trajectory-dependent observability analysis showing that translational acceleration,…

In this work, we propose an interoceptive-only state estimation system for a quadrotor with deep neural network processing, where the quadrotor dynamics is considered as a perceptive supplement of the inertial kinematics. To improve the…

This paper addresses the problem of Visual-Inertial Odometry (VIO) for rigid body systems evolving in three-dimensional space. We introduce a novel matrix Lie group structure, denoted SE_{3+n}(3), that unifies the pose, gravity, linear…

Recently, data-driven inertial navigation approaches have demonstrated their capability of using well-trained neural networks to obtain accurate position estimates from inertial measurement units (IMU) measurements. In this paper, we…

A novel method which is called the Chebyshev inertial iteration for accelerating the convergence speed of fixed-point iterations is presented. The Chebyshev inertial iteration can be regarded as a valiant of the successive over relaxation…

The problem of computing optimal orthogonal approximation to a given matrix has attracted growing interest in machine learning. Notable applications include the recent Muon optimizer or Riemannian optimization on the Stiefel manifold. Among…

Ultra-wideband (UWB) based positioning with fewer anchors has attracted significant research interest in recent years, especially under energy-constrained conditions. However, most existing methods rely on discrete-time representations and…

In this work we propose a tightly-coupled Extended Kalman Filter framework for IMU-only state estimation. Strap-down IMU measurements provide relative state estimates based on IMU kinematic motion model. However the integration of…

Recently, the progress in the radar sensing technology consisting in the miniaturization of the packages and increase in measuring precision has drawn the interest of the robotics research community. Indeed, a crucial task enabling autonomy…

Inertial navigation computation is to acquire the attitude, velocity and position information of a moving body by integrating inertial measurements from gyroscopes and accelerometers. Over half a century has witnessed great efforts in…

Odometry in adverse weather conditions, such as fog, rain, and snow, presents significant challenges, as traditional vision and LiDAR-based methods often suffer from degraded performance. Radar-Inertial Odometry (RIO) has emerged as a…

Visual-inertial odometry (VIO) is a vital technique used in robotics, augmented reality, and autonomous vehicles. It combines visual and inertial measurements to accurately estimate position and orientation. Existing VIO methods assume a…

The exponential growth of the Internet of Things (IoT) has led to the emergence of substantial security concerns, with IoT networks becoming the primary target for cyberattacks. This study examines the potential of Kolmogorov-Arnold…

Combining cameras and inertial measurement units (IMUs) has been proven effective in motion tracking, as these two sensing modalities offer complementary characteristics that are suitable for fusion. While most works focus on global-shutter…