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Publications associées (521)

A method for ego-motion estimation in micro-hovering platforms flying in very cluttered environments

Dario Floreano, Jean-Christophe Zufferey, Adrien Briod

We aim at developing autonomous miniature hovering flying robots capable of navigating in unstructured GPS-denied environments. A major challenge is the miniaturization of the embedded sensors and processors that allow such platforms to fly by themselves. ...

Springer Verlag2015

IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation

Davide Scaramuzza

Recent results in monocular visual-inertial navigation (VIN) have shown that optimization-based approaches outperform filtering methods in terms of accuracy due to their capability to relinearize past states. However, the improvement comes at the cost of i ...

2015

Position Accuracy with Redundant MEMS IMU for Road Applications

Jan Skaloud, Pierre-Yves Gilliéron, Bertrand Merminod, Philipp Clausen

The diversity of road applications and intelligent transportation systems (ITS) makes the definition of positioning integrity a real challenge because the requirements are changing from one application to another. Even within liability or safety critical a ...

2015

Progress in airborne gravimetry by combining strapdown inertial and new satellite observations via dynamic networks

Jan Skaloud

We revisit the concept of scalar gravity ano- maly determination by an airborne strapdown INS - GNSS system. We built on the previously investigated concepts (mainly within 1995-2005 period) while trying to decrease the error spectrum of the system caused ...

2015

Flow separation at convex banks in open channels

Koen Blanckaert

Laboratory experiments in an open channel bend provide insight into the physics of convex bank flow separation occurring in a variety of channel configurations, including confluences and bifurcations. The edge of the zone of flow separation is characterize ...

Cambridge Univ Press2015

On-Board Human-Aware Navigation for Indoor Resource-Constrained Robots: A Case-Study with the Ranger

Alcherio Martinoli, Zeynab Talebpour, Inaki Navarro Oiza

Introducing simple robotic platforms into domes- tic environments is faced with the challenge of social accept- ability. Therefore human-aware navigation is a must for robots operating in environments shared with human users. In this work, we focus on the ...

2015

Fixed-wing Micro Aerial Vehicle for Accurate Corridor Mapping

Jan Skaloud, Martin Rehak

In this study we present a Micro Aerial Vehicle (MAV) equipped with precise position and attitude sensors that together with a pre-calibrated camera enables accurate corridor mapping. The design of the platform is based on widely available model components ...

2015

Harvesting Energy From a Rotating Gear Using an AFM-Like MEMS Piezoelectric Frequency Up-Converting Energy Harvester

Nico de Rooij, Danick Briand, Simon Nessim Henein, Pattanaphong Janphuang, Robert Andrew Lockhart, Don Isarakorn

This paper presents an analytical and experimental study of a compact configuration to harvest energy from a rotating gear using piezoelectric microelectromechanical system harvesters. The reported configuration realizes a contact-type frequency up-convers ...

Ieee-Inst Electrical Electronics Engineers Inc2015

Physical activity monitoring based on wearable technology combining inertial and barometric pressure sensors

Fabien Massé

Stroke, or cerebral-vascular accident is the leading cause of disabilities in the western world. It primarily affects mobility due to a degradation of principal motor functions such as balance and gait. This reduction of mobility directly impacts the spect ...

EPFL2015

A Bayesian Approach for Pervasive Estimation of Breaststroke Velocity Using a Wearable IMU

Kamiar Aminian, Grégoire Millet, Farzin Dadashi

An ubiquitous assessment of swimming velocity (main metric of the performance) is essential for the coach to provide a tailored feedback to the trainee. We present a probabilistic framework for the data-driven estimation of the swimming velocity at every c ...

Elsevier Science Bv2015

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