Publications related to optiPilot: control of take-off and landing using optic flow

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 ...

2024

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 ...

2024

VDM-based navigation for Delta-wing UAVs: Models, calibration, implementation

Pasquale Longobardi

Autonomous navigation of small UAVs is typically based on the integration of inertial navigation systems (INS) together with global navigation satellite systems (GNSS). However, GNSS signals can face various forms of interference affecting their continuous ...

EPFL2024

Automatic 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 ...

MDPI2023

Model-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 ...

2023

Complex 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 ...

Assoc Computing Machinery2023

Identifying aerodynamics of small fixed-wing drones using inertial measurements for model-based navigation

Jan Skaloud, Gabriel François Laupré

The success of drone missions is incumbent on an accurate determination of the drone pose and velocity, which are collectively estimated by fusing iner- tial measurement unit and global navigation satellite system (GNSS) mea- surements. However, during a G ...

2023

An 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 INC2022

On 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 ...

2022

Human 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 ...

2022