This paper proposes an integration of ‘building heading’ information with ZUPT in a Kalman filter, using a shoe mounted IMU approach. This is done to reduce heading drift error, which remains a major problem in a standalone shoe mounted pedestrian navigation system. The standalone system used in this paper consists of only single low cost MEMS IMU that contains 3-axis accelerometers and gyros. ...

In this paper measurements from a monocular vision system are fused with inertial/magnetic measurements from an Inertial Measurement Unit (IMU) rigidly connected to the camera. Two Extended Kalman filters (EKFs) were developed to estimate the pose of the IMU/camera sensor moving relative to a rigid scene (ego-motion), based on a set of fiducials. The two filters were identical as for the state ...

One of the most important movements performed by the humans is gait. Biomechanical Gait analysis is usually by optical capture systems. However, such systems are expensive and sensitive to light and obstacles. In order to reduce those costs a system based on Inertial Measurements Units (IMU) is proposed. IMU are a good option to make movement analisys indoor with a low post-processing data, all...

We examine the observability properties of visual-inertial navigation systems, with an emphasis on self-calibration of the six degrees-of-freedom rigid body transform between a camera and an inertial measurement unit (IMU). Our analysis depends on a differential geometric formulation of the calibration problem, and on an algebraic test for the ‘observability rank condition’, originally defined ...

Monitoring the performance is a crucial task for elite sports during both training and competition. Velocity is the key parameter of performance in swimming, but swimming performance evaluation remains immature due to the complexities of measurements in water. The purpose of this study is to use a single inertial measurement unit (IMU) to estimate front crawl velocity. Thirty swimmers, equipped...

System calibration is required in integrated IMU/GPS systems to account for the spatial offset and misalignment between IMU, GPS and camera frames; synchronization is to be maintained, to predict IMU/GPS position and orientation data at the mid-exposure time of the images. To this aim, measurement on the ground, complemented by a calibration flight over a test field, are performed. Depending on...

It has been identified that the inertial system is not a completely observable system in the absence of maneuvers. Although the velocity errors and the accelerometer bias in the vertical direction can be solely observable, other error states, including the attitude errors, the accelerometer biases in the east and north directions, and the gyro biases, are just jointly observable states with vel...

Automatic image measuring is to identify and to measure conjugate points in two or more overlapping photographs automatically. In digital photogrammetry, this process is done by image matching. A straightforward way to make image matching well-posed is to restrict the space of possible solutions and provide good initial parallax. Initial parallax is related to the searching space. The better th...

System calibration is required in integrated IMU/GPS systems to account for the spatial offset and misalignment between IMU, GPS and camera frames; synchronization is to be maintained, to predict IMU/GPS position and orientation data at the mid-exposure time of the images. To this aim, measurement on the ground, complemented by a calibration flight over a test field, are performed. Depending on...