相关论文: Smartwatch-Based Sitting Time Estimation in Real-W…
Inertial navigation systems for pedestrians are infrastructure-less and can achieve sub-meter accuracy in the short/medium period. However, when low-cost inertial measurement units (IMU) are employed for their implementation, they suffer…
Helmet-mounted wearable positioning systems are crucial for enhancing safety and facilitating coordination in industrial, construction, and emergency rescue environments. These systems, including LiDAR-Inertial Odometry (LIO) and…
This paper proposes a novel unit-quaternion observer-based controller for attitude tracking (attitude and angular velocity) with guaranteed transient and steady-state performance. The proposed approach is computationally cheap and can…
Improper sitting posture during prolonged computer use has become a significant public health concern. Traditional posture monitoring solutions face substantial barriers, including privacy concerns with camera-based systems and user…
Visual-inertial fusion is crucial for a large amount of intelligent and autonomous applications, such as robot navigation and augmented reality. To bootstrap and achieve optimal state estimation, the spatial-temporal displacements between…
The sedentary lifestyle increases individuals' risks of developing chronic diseases. To support individuals to be more physically active, we propose a mobile system, MotionShift, that presents users with step count data alongside contextual…
Increase in workload across many organisations and consequent increase in occupational stress is negatively affecting the health of the workforce. Measuring stress and other human psychological dynamics is difficult due to subjective nature…
This paper considers the problem of nonlinear attitude estimation for a rigid body system using intermittent and multi-rate inertial vector measurements as well as continuous (high-rate) angular velocity measurements. Two types of hybrid…
Inertial odometry (IO) using strap-down inertial measurement units (IMUs) is critical in many robotic applications where precise orientation and position tracking are essential. Prior kinematic motion model-based IO methods often use a…
Structure from motion algorithms have an inherent limitation that the reconstruction can only be determined up to the unknown scale factor. Modern mobile devices are equipped with an inertial measurement unit (IMU), which can be used for…
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…
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…
In a multiuser context, the Bluetooth data from the smartphone could give an approximation of the distance between users. Meanwhile, the Wi-Fi data can be used to calculate the user's position directly. However, both the Wi-Fi-based…
The increased worldwide prevalence of obesity has sparked the interest of the scientific community towards tools that objectively and automatically monitor eating behavior. Despite the study of obesity being in the spotlight, such tools can…
Applications of inertial measurement units are extremely diverse, and are expected to see a further increase in number due to current trends in robotics as well as recent advances in Micro Electromechanical sensors (MEMS). The traditional…
We present an intelligent wearable system to monitor and predict mood states of elderly people during their daily life activities. Our system is composed of a wristband to record different physiological activities together with a mobile app…
We routinely perform procedures (such as cooking) that include a set of atomic steps. Often, inadvertent omission or misordering of a single step can lead to serious consequences, especially for those experiencing cognitive challenges such…
This work presents a contracting hierarchical observer that fuses position and orientation measurements with an IMU to generate smooth position, linear velocity, orientation, and IMU bias estimates that are guaranteed to converge to their…
To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significant challenges on software and algorithm design, especially…
Passive and non-obtrusive health monitoring using wearables can potentially bring new insights into the user's health status throughout the day and may support clinical diagnosis and treatment. However, identifying segments of free-living…