Publication
On the benefit of concurrent adjustment of active and passive optical sensors with GNSS & raw inertial data
Related publications (62)
Airborne 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 ...
2024VDMNav: 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 ...
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 ...
2023Automatic 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 ...
MDPI2023An Inertial Uni-Axial Interferometer-Based Accelerometer for Harsh Environments
Mark Edward John Butcher, Gerard Aliana Cervera
For high-impact devices, subsequent vibrations have as much influence on the deterioration of the mechanical structure as the impact itself. To mitigate the consequences of both impacts and resulting vibrations, it is crucial to accurately understand the p ...
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022Lidar 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 ...
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 ...
2022Biomechanical Ambulatory Assessment of 3D Knee Angle Using Novel Inertial Sensor-Based Technique
Three-dimensional (3D) knee angle measurement is one of the key measures in human gait analysis. Inertial sensor capable of measuring joint motion under unconstrained conditions is a practical tool for clinical evaluation and rehabilitation. An inertial me ...
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021Measurement and comparison of graphene-based resonant accelerometers
An accelerometer is a device used to measure acceleration. Acceleration is the rate of change of an object’s velocity, measured in square meters per second [m/s2] or g force. This type of device is used to detect vibrations or the orientation of certain sy ...
2021Drift-Free Foot Orientation Estimation in Running Using Wearable IMU
Kamiar Aminian, Frédéric Meyer, Grégoire Millet, Benoît Mariani, Mathieu Pascal Falbriard
This study aimed to introduce and validate a new method to estimate and correct the orientation drift measured from foot-worn inertial sensors. A modified strap-down integration (MSDI) was proposed to decrease the orientation drift, which, in turn, was fur ...
2020