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The location of the center of rotation (COR) of joints is a key parameter in multiple applications of human motion analysis. The aim of this work was to propose a novel real-time estimator of the center of fixed joints using an inertial…

In the context of robotics, accurate ground-truth positioning is the cornerstone for the development of mapping and localization algorithms. In outdoor environments and over long distances, total stations provide accurate and precise…

Accurate and reliable sensor calibration is essential to fuse LiDAR and inertial measurements, which are usually available in robotic applications. In this paper, we propose a novel LiDAR-IMU calibration method within the continuous-time…

A misalignment of LiDAR as low as a few degrees could cause a significant error in obstacle detection and mapping that could cause safety and quality issues. In this paper, an accurate inspection system is proposed for estimating a LiDAR…

The advantages of millimeter-wave and large antenna arrays technologies for accurate wireless localization received extensive attentions recently. However, how to further improve the accuracy of wireless localization, even in the case of…

In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…

Accurate estimation of the tire slip ratio is critical for vehicle safety, as it is necessary for vehicle control purposes. In this paper, an intelligent tire system is presented to develop a novel slip ratio estimation model using machine…

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…

In this paper, phasor measurement unit (PMU) placement for power grid state estimation under different degrees of observability is studied. Observability degree is the depth of the buses' reachability by the placed PMUs and thus constitutes…

Robust estimation of vehicle sideslip angle is essential for stability control applications. However, the direct measurement of sideslip angle is expensive for production vehicles. This paper presents a novel sideslip estimation algorithm…

This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides…

We propose a 6D Bayesian-based localization framework to estimate the position and rotation angles of a mobile station (MS) within an indoor reconfigurable intelligent surface (RIS)-aided system. This framework relies on a probabilistic…

This paper presents a sophisticated reconfigurable metasurface architecture that introduces an advanced concept of flexible full-array space-time wavefront manipulation with enhanced dynamic capabilities. The practical 2-bit phase-shifting…

This paper presents a novel approach for predicting human poses using IMU data, diverging from previous studies such as DIP-IMU, IMUPoser, and TransPose, which use up to 6 IMUs in conjunction with bidirectional RNNs. We introduce two main…

In this paper, we address the problem of relative localization of two mobile agents. Specifically, we consider the Dual-IMU system, where each agent is equipped with one IMU, and employs relative pose observations between them. Previous…

The physical load of jumps plays a critical role in injury prevention for volleyball players. However, manual video analysis of jump activities is time-intensive and costly, requiring significant effort and expensive hardware setups. The…

For autonomous driving or advanced driving assistance, it is key to monitor the vehicle dynamics behavior. Accurate models of this behavior include acceleration, but also the side-slip angle, that eventually results from the complex…

The focus of this paper is an integrated, fault-tolerant vehicle supervisory control algorithm for the overall stability of ground vehicles. Vehicle control systems contain many sensors and actuators that can communicate with each other…

Optical tactile sensors are extensively utilized in intelligent robot manipulation due to their ability to acquire high-resolution tactile information at a lower cost. However, achieving adequate reality and versatility in simulating…

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…