Concept
Sensor fusion
Related publications (158)
VDMNav: Software Architecture for Aerodynamically Constrained Navigation on Small Fixed-Wing Drones
Jan Skaloud, Gabriel François Laupré
Navigation of drones is predominantly based on sensor fusion algorithms. Most of these algorithms make use of some form of Bayesian filtering with a majority employing an Extended Kalman Filter (EKF), wherein inertial measurements are fused with a Global N ...
2024Airborne sensor fusion: Expected accuracy and behavior of a concurrent adjustment
Jan Skaloud, Davide Antonio Cucci, Aurélien Arnaud Brun, Kyriaki Mouzakidou
Tightly-coupled sensor orientation, i.e. the simultaneous processing of temporal (GNSS and raw inertial) and spatial (image and lidar) constraints in a common adjustment, has demonstrated significant improvement in the quality of attitude determination wit ...
2024Model-based constraints for trajectory determination of quad-copters: Design, calibration & merits for direct orientation
Jan Skaloud, Davide Antonio Cucci, Kenneth Joseph Paul
This paper proposes a novel method to improve georeferencing of airborne laser scanning by improved trajectory estimation using Vehicle Dynamic Model. In Vehicle Dynamic Model (VDM), the relationship between the dynamics of the platform and control inputs ...
2023Complex Daily Activities, Country-Level Diversity, and Smartphone Sensing: A Study in Denmark, Italy, Mongolia, Paraguay, and UK
Daniel Gatica-Perez, Lakmal Buddika Meegahapola, Karim Assi
Smartphones enable understanding human behavior with activity recognition to support peoples daily lives. Prior studies focused on using inertial sensors to detect simple activities (sitting, walking, running, etc.) and were mostly conducted in homogeneous ...
New York2023Automatic Body Segment and Side Recognition of an Inertial Measurement Unit Sensor during Gait
Kamiar Aminian, Xavier Crevoisier, Robin Martin
Inertial measurement unit (IMU) sensors are widely used for motion analysis in sports and rehabilitation. The attachment of IMU sensors to predefined body segments and sides (left/right) is complex, time-consuming, and error-prone. Methods for solving the ...
MDPI2023On the benefit of concurrent adjustment of active and passive optical sensors with GNSS & raw inertial data
Jan Skaloud, Davide Antonio Cucci, Kyriaki Mouzakidou
In airborne laser scanning a high-frequency trajectory solution is typically determined from inertial sensors and employed to directly geo-reference the acquired laser points. When low-cost MEMS inertial sensors are used, such as in lightweight unmanned ae ...
2022Human Head Yaw Estimation based on Two 3-axis Accelerometers
Hervé Lissek, Gilles André Courtois, Vincent Pierre Olivier Grimaldi
The estimation of the orientation of an object, and a human head in particular, can be defined by the Euler angles: the yaw, pitch and roll. The robust and drift-free estimation of those angles is usually achieved with the data from several sensors such as ...
2022Lidar point-to-point correspondences for rigorous registration of kinematic scanning in dynamic networks
Jan Skaloud, Davide Antonio Cucci, Aurélien Arnaud Brun
With the objective of improving the registration of lidar point clouds produced by kinematic scanning systems, we propose a novel trajectory adjustment procedure that leverages on the automated extraction of selected reliable 3D point–to–point corresponden ...
2022A Wearable Low-Power Sensing Platform for Environmental and Health Monitoring: The Convergence Project
Mihai Adrian Ionescu, Thomas Ernst
The low-power sensing platform proposed by the Convergence project is foreseen as a wireless, low-power and multifunctional wearable system empowered by energy-efficient technologies. This will allow meeting the strict demands of life-style and healthcare ...
2021Wearable Sensor-Based Real-Time Gait Detection: A Systematic Review
Auke Ijspeert, Grégoire Courtine, Joachim von Zitzewitz, Miroslav Caban, Hari Prasanth, Urs Keller
Gait analysis has traditionally been carried out in a laboratory environment using expensive equipment, but, recently, reliable, affordable, and wearable sensors have enabled integration into clinical applications as well as use during activities of daily ...
2021