Concept

Navigation à l'estime

Publications associées (32)

Design and Evaluation of Modular Gas and Wind Sensing Nodes for Static and Mobile Deployments

Alcherio Martinoli, Emmanuel Droz, Wanting Jin

Static and mobile sensor nodes can be employed in gas monitoring tasks to detect gas leaks in an early stage and localize gas sources. Due to the intermittent nature of gas plumes and the slow dynamics of commonly used gas sensors, measuring gas concentrat ...

2024

Optimization and Real-Time Aspects of Aircraft Model-Based Navigation

Gabriel François Laupré

The Vehicle Dynamic Model (VDM) based navigation of fixed-wing drones determines the airborne trajectory in conjunction with Inertial Measurement Unit (IMU) sensors. Without Global Navigation Satellite Systems (GNSS) signals, this method estimates navigati ...

EPFL2022

MULLS: Versatile LiDAR SLAM via Multi-metric Linear Least Square

Yujie He, Yue Pan

The rapid development of autonomous driving and mobile mapping calls for off-the-shelf LiDAR SLAM solutions that are adaptive to LiDARs of different specifications on various complex scenarios. To this end, we propose MULLS, an efficient, low-drift, and ve ...

IEEE2021

Online Kinematic and Dynamic Parameter Estimation for Autonomous Surface and Underwater Vehicles

Alcherio Martinoli, Anwar Ahmad Quraishi

One of the main challenges in underwater robot localization is the scarcity of external positioning references. Therefore, accurate inertial localization in between external position updates is crucial for applications such as underwater environmental samp ...

2021

Pedestrian Intention Prediction: A Convolutional Bottom-Up Multi-Task Approach

Alexandre Massoud Alahi, Taylor Ferdinand Mordan

The ability to predict pedestrian behaviour is crucial for road safety, traffic management systems, Advanced Driver Assistance Systems (ADAS), and more broadly autonomous vehicles. We present a vision-based system that simultaneously locates where pedestri ...

2021

Bundle adjustment with raw inertial observations

Jan Skaloud, Davide Antonio Cucci, Martin Rehak

t is well known that accurate aerial position and attitude control is beneficial for image orientation in airborne photogrammetry. The aerial control is traditionally obtained by Kalman filtering/smoothing inertial and GNSS observations prior to the bundle ...

2017

UAV Sensor Orientation with Pre-calibrated Redundant IMU/GNSS Observations: Preliminary Results

Jan Skaloud, Martin Rehak, Philipp Clausen

In unserem Beitrag stellen wir eine Drohne vor, welche für eine hochpräzise Kartographie mit Positions- und Orientierungssensoren ausgestattet ist. Der Einsatz der Sensoren als absolute und relative Messung kann die Genauigkeit des Mappings erhöhen, falls ...

Deutsche Gesellschaft für Photogrammetrie, Fernerkundung und Geoinformation (DGPF) e.V.2016

UAV Sensor Orientation with Pre-calibrated Redundant IMU/GNSS Observations: Preliminary Results

Jan Skaloud, Philipp Clausen

n unserem Beitrag stellen wir eine Drohne vor, welche für eine hochpräzise Kartographie mit Positions- und Orientierungssensoren ausgestattet ist. Der Einsatz der Sensoren als absolute und relative Messung kann die Genauigkeit des Mappings erhöhen, falls d ...

2016

Evaluation of Wind Effects on UAV Autonomous Navigation Based on Vehicle Dynamic Model

Jan Skaloud, Mehran Khaghani

A novel approach to autonomous navigation for small UAVs was recently introduced by the authors. An abridged description of this approach can be found in present paper, with its main contribution being further evaluation of effects of wind on navigation pe ...

Inst Navigation2016

Using inertial sensors for reconstructing 3D full-body movement in sports - possibilities and limitations on the example of alpine ski racing

Kamiar Aminian, Benedikt Fasel

The present study investigates if inertial sensors could be used for reconstructing 3D full body movements in sports. On the example of alpine ski racing, it was demonstrated that inertial sensors allow computing meaningful parameters related to a skier’s ...

2015

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