Position tracking of pedestrians by means of inertial sensors is a highly explored field of research. In fact, there are already many approaches to implement inertial navigation systems (INSs). However, most of them use a single inertial measurement unit (IMU) attached to the pedestrian's body. Since wearable-devices will be given items in the future, this work explores the implementation of an...

In recent years, autonomous miniature airships have gained increased interest in the robotics community. Whereas their advantage lies in their abilities to move safely and to hover for extended periods of time, they at the same time are challenging as their payload is strictly limited and as their complex second-order kinematics makes the prediction of their pose and velocity through physical s...

This paper describes the design, operation, and test results of a miniature, low cost integrated GPS/inertial navigation system that uses commercial off-the-shelf Micro-Electro-Mechanical System (MEMS) accelerometers and gyroscopes. The MEMS inertial measurement unit (IMU) is packaged in a small size and provides the raw IMU data through a serial interface to a processor board where the inertia...

Accurate force/torque estimation is essential for applications such as powered exoskeletons, robotics, and rehabilitation. However, under dynamic conditions a challenging due to changing joint angles, force levels, muscle lengths, movement speeds. We propose novel method accurately model the generated isotonic, isokinetic (quasi-dynamic), fully conditions. Our solution uses deep multimodal CNN ...

The topic of image orientation by combined aerial triangulation with GPS/IMU, also called integrated sensor orientation, has received much attention lately. One of the main questions of fundamental relevance is, if and under which conditions the direct determination of the parameters of exterior orientation via GPS and IMU can be a complete substitute for aerial triangulation. A more practical ...

In this thesis, I propose a robust and easy to implement method to calibrate an IMU without any external equipment. The procedure is based on a multi-position scheme, providing scale and misalignments factors for both the accelerometers and gyroscopes triads, while estimating the sensor biases. The method only requires the sensor to be moved by hand and placed in a set of different, static posi...

The topic of image orientation by combined aerial triangulation with GPS/IMU, also called integrated sensor orientation, has received much attention lately. One of the main questions of fundamental relevance is, if and under which conditions the direct determination of the parameters of exterior orientation via GPS and IMU can be a complete substitute for aerial triangulation. A more practical ...