相关论文: IMU Propagation as Preintegration

Intravoxel incoherent motion (IVIM) imaging allows contrast-agent free in vivo perfusion quantification with magnetic resonance imaging (MRI). However, its use is limited by typically low accuracy due to low signal-to-noise ratio (SNR) at…

For most LiDAR-inertial odometry, accurate initial states, including temporal offset and extrinsic transformation between LiDAR and 6-axis IMUs, play a significant role and are often considered as prerequisites. However, such information…

This paper introduces a method for approximately eliminating the effect that conductivity changes outside the region of interest have in electrical impedance tomography, allowing to form a local reconstruction in the region of interest…

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…

Global Navigation Satellite System/Inertial Navigation System (GNSS/INS)/Vision integration based on factor graph optimization (FGO) has recently attracted extensive attention in navigation and robotics community. Integrity monitoring (IM)…

Existing deep-learning based tomographic image reconstruction methods do not provide accurate estimates of reconstruction uncertainty, hindering their real-world deployment. This paper develops a method, termed as the linearised deep image…

Masked image modeling (MIM) as pre-training is shown to be effective for numerous vision downstream tasks, but how and where MIM works remain unclear. In this paper, we compare MIM with the long-dominant supervised pre-trained models from…

This work presents a centralized multi-IMU filter framework with online intrinsic and extrinsic calibration for unsynchronized inertial measurement units that is robust against changes in calibration parameters. The novel EKF-based method…

In a research context, image acquisition will often involve a pre-defined static protocol and the data will be of high quality. If we are to build applications that work in hospitals without significant operational changes in care delivery,…

Inertial Measurement Unit (IMU) sensors are widely employed for Human Activity Recognition (HAR) due to their portability, energy efficiency, and growing research interest. However, a significant challenge for IMU-HAR models is achieving…

Ultrasound modulated optical tomography, also called acousto-optics tomography, is a hybrid imaging modality that aims to combine the high contrast of optical waves with the high resolution of ultrasound. We follow the model of the…

Recently, diffusion models have attracted considerable attention for magnetic resonance image reconstruction due to their high sample quality. However, most existing methods rely on large networks with opaque time-conditioning mechanisms,…

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…

State estimation is a critical foundational module in robotics applications, where robustness and performance are paramount. Although in recent years, many works have been focusing on improving one of the most widely adopted state…

In recent years there have been excellent results in Visual-Inertial Odometry techniques, which aim to compute the incremental motion of the sensor with high accuracy and robustness. However these approaches lack the capability to close…

We propose a text-to-IMU (inertial measurement unit) motion-synthesis framework to obtain realistic IMU data by fine-tuning a pretrained diffusion model with an acceleration-based second-order loss (L_acc). L_acc enforces consistency in the…

Through the use of carefully tailored convolutional neural network architectures, a deep image prior (DIP) can be used to obtain pre-images from latent representation encodings. Though DIP inversion has been known to be superior to…

Motion capture (MoCap) data from wearable Inertial Measurement Units (IMUs) is vital for applications in sports science, but its utility is often compromised by missing data. Despite numerous imputation techniques, a systematic performance…

This paper presents Lidar-based Simultaneous Localization and Mapping (SLAM) for autonomous driving vehicles. Fusing data from landmark sensors and a strap-down Inertial Measurement Unit (IMU) in an adaptive Kalman filter (KF) plus the…

Many applications in image-guided surgery and therapy require fast and reliable non-linear, multi-modal image registration. Recently proposed unsupervised deep learning-based registration methods have demonstrated superior performance…