We describe a novel quadrotor micro air vehicle (MAV) system that is designed to use computer vision algorithms within the flight control loop. One main contribution is the integration of a powerful onboard computer which is a necessity for running state-of-the-art computer vision algorithms with real-time constraints. The system also features IMU-Vision synchronization by hardware time stampin...

In this paper, we propose a new visual-inertial Simultaneous Localization and Mapping (SLAM) algorithm. With the tightly coupled sensor fusion of a global shutter monocular camera and a low-cost Inertial Measurement Unit (IMU), this algorithm is able to achieve robust and real-time estimates of the sensor poses in unknown environment. To address the real-time visual-inertial fusion problem, we ...

For indoor pedestrian navigation with a shoe-mounted inertial measurement unit (IMU), the zero velocity update (ZUPT) technique is implemented to constrain the sensors’ error. ZUPT uses the fact that a stance phase appears in each step at zero velocity to correct IMU errors periodically. This paper introduces three main contributions we have achieved based on ZUPT. Since correct stance phase de...

In this paper we present a quaternion-based Extended Kalman Filter (EKF) for estimating the three-dimensional orientation of a rigid body. The EKF exploits the measurements from an Inertial Measurement Unit (IMU) that is integrated with a tri-axial magnetic sensor. Magnetic disturbances and gyro bias errors are modeled and compensated by including them in the filter state vector. We employ the ...

Forward head posture (FHP) is representative bad habit causing neck pain, shoulder pain, back pain, dental occlusion, headache etc in modern society. Approaches to prevent FHP were researched by camera sensors such as Kinect and Webcam, which has cost and space limitation caused by installation of the sensors. To compensate the limitations, we proposed wearable device to put it behind user’s ea...

Resumo— Este trabalho apresenta um modelamento genérico para IMU (Inertial Measurement Unity). Através de ajustes de parâmetros de desempenho de sensor tais como bias, ruı́do e resposta em frequência além de outros, o modelamento oferece capacidade para simular desempenho de sensor desejado. possibilitando testar requisitos de sensor e desempenho. O modelo é comparado com uma simualação de senso...

For operational use, the photo orientations of a block with more than 1000 images have been determined with an LCR88 inertial measurement unit (IMU) and GPS. The relation of the IMU to the camera and corrections for the GPS-data of the projection centers have been determined and improved by means of a small reference block with 5 – 8 photos. For checking purposes the photo coordinates of 252 ph...

We present an unsupervised deep neural network approach to the fusion of RGB-D imagery with inertial measurements for absolute trajectory estimation. Our network, dubbed the Visual-Inertial-Odometry Learner (VIOLearner), learns to perform visual-inertial odometry (VIO) without inertial measurement unit (IMU) intrinsic parameters (corresponding to gyroscope and accelerometer bias or white noise)...