Just to explain a little about the motivation for this topic, the project I was working on was called “PROSPECT: Wide Area Prospecting Using Supervised Autonomous Robots.” Our goal was to develop a semi-autonomous mutli-robot supervision architecture. One of the major issues for rover navigation is knowing attitude and position. Our initial idea was to use a combination of IMU, GPS and odometry...

This paper proposes a novel data-driven approach for inertial navigation, which learns to estimate trajectories of natural human motions just from an inertial measurement unit (IMU) in every smartphone. The key observation is that human motions are repetitive and consist of a few major modes (e.g., standing, walking, or turning). Our algorithm regresses a velocity vector from the history of lin...

Assistive robots have a great potential to address issues related to an aging population and an increased demand for caregiving. Successful deployment of robots working in close proximity with people requires consideration of both safety and human–robot interaction (HRI). One of the established activities of daily living where robots could play an assistive role is dressing. Using the correct f...

Inertial Measurement Units (IMUs) are often used to measure motion parameters of human body in indoor/outdoor localization applications. Most of commercially available low-cost IMUs have limited number of sensors and are often connected to a computer by a wired connection (usually by USB). The disadvantage of using wired IMUs in human gait measurement is that, the wires disturb the natural gait...

This paper presents low computational-complexity methods for micro-aerial-vehicle localization in GPSdenied environments. All the presented algorithms rely only on the data provided by a single onboard camera and an Inertial Measurement Unit (IMU). This paper deals with outlier rejection and relativepose estimation. Regarding outlier rejection, we describe two methods. The former only requires ...

BACKGROUND The timed-up-and-go test (TUG) is one of the most commonly used tests of physical function in clinical practice and for research outcomes. Inertial sensors have been used to parse the TUG test into its composite phases (rising, walking, turning, etc.), but have not validated this approach against an optoelectronic gold-standard, and to our knowledge no studies have published the mini...

This paper evaluates the performance of a shoe/foot mounted inertial system for pedestrian navigation application. Two different grades of inertial sensors are used, namely a medium cost tactical grade Honeywell HG1700 inertial measurement unit (IMU) and a low-cost MEMS-based Crista IMU (Cloud Cap Technology). The inertial sensors are used in two different ways for computing the navigation solu...

The IESSG has for many years been using simulators of various kinds in its research activities. There are many advantages of using simulators. Simulated data can provide early opportunities for the analysis of a potential measurement process. Simulators can enable a new computational technique to be assessed with controlled error budgets. For some years the IESSG has had a ‘GNSS’ simulator that...