Publications related to Dead reckoning

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

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

Optimized Packet Scheduling in Multiview Video Navigation Systems

Pascal Frossard, Thomas Maugey, Laura Toni

In multiview video systems, multiple cameras generally acquire the same scene from different perspectives, such that users have the possibility to select their preferred viewpoint. This results in large amounts of highly redundant data, which needs to be p ...

Ieee-Inst Electrical Electronics Engineers Inc2015

Generalized Method of Wavelet Moments for Inertial Navigation Filter Design

Jan Skaloud, Stéphane Guerrier, Yannick Stebler

The integration of observations issued from a satellite-based system (GNSS) with an inertial navigation system (INS) is usually performed through a Bayesian filter such as the extended Kalman filter (EKF). The task of designing the navigation EKF is strong ...

Institute of Electrical and Electronics Engineers2014

Interest modeling in games: the case of dead reckoning

Kévin Clément Huguenin

In games, the goals and interests of players are key factors in their behavior. However, techniques used by networked games to cope with infrequent updates and message loss, such as dead reckoning, estimate a player's movements based mainly on previous obs ...

Springer2013

Modeling and Benchmarking Ultra-Wideband Localization for Mobile Robots

Alcherio Martinoli, Catherine Dehollain, Alexander Bahr, Edmund James Colli-Vignarelli

Ultra-Wideband Impulse Radio (UWB-IR) is a technology that has great potential to solve numerous mobile robotic and asset tracking problems in GPS-denied environments. Our goal is to help software and hardware designers in improving the state-of-the-art in ...

2012

Improving Modeling of MEMS-IMUs Operating in GNSS-denied Conditions

Jan Skaloud, Stéphane Guerrier, Yannick Stebler

Stochastic modeling is a challenging task for low- cost inertial sensors whose errors can have complex spectral structures. This makes the tuning process of the INS/GNSS Kalman filter often sensitive and difficult. We are currently investigating two approa ...

Inst Navigation2011

Pedestrian localization, tracking and behavior analysis from multiple cameras

Jérôme Berclaz

Video surveillance is currently undergoing a rapid growth. However, while thousands of cameras are being installed in public places all over the world, computer programs that could reliably detect and track people in order to analyze their behavior are not ...

EPFL2010

Hybridation MEMS/UWB pour la navigation pédestre intra-muros

Valérie Jeanne Thérèse Renaudin-Schouler

Facing the expansion of geolocation needs, illustrated by the GALILEO European project, the growth of Location Based Services (LBS) and the need to identify the location of emergency mobile phone calls in Europe (standard E112), the research on localizatio ...

EPFL2009

Improvement of Orientation Estimation in Pedestrian Navigation by Compensation of Magnetic Disturbances

Phillip Tomé, Okan Yalak

Over the last few years there has been a growing interest in the domain of pedestrian navigation, stimulated by the increasing demand for Location Based Services. Pedestrian Dead Reckoning (PDR) based on MEMS sensors has been at the heart of most high-end ...

2008

Optimal Data Fusion for Pedestrian Navigation based on UWB and MEMS

Bertrand Merminod, Valérie Jeanne Thérèse Renaudin-Schouler

Indoor pedestrian navigation is probably a very challenging research area. In this context, an optimal data fusion filter that hybridises a large set of observations: angles of arrival (AOA), time differences of arrival (TDOA), accelerations, angular veloc ...

2008

Terrain-based Navigation for Underwater Vehicles Using Side Scan Sonar Images

Hannes Bleuler, Severin Stalder

Underwater navigation challenges the research community as a reliable navigation system is unavailable. Correctly matched landmarks could compensate the drift of dead reckoning navigation systems. Furthermore, they could be useful in side scan sonar image ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2008

Protection and Fundamental Vulnerability of Global Navigation Satellite Systems (GNSS)

Panagiotis Papadimitratos, Aleksandar Jovanovic

An increasing number of mobile applications and services require that devices are aware of their location. Global navigation satellite systems (GNSS) are the predominant enabling technology. But location information provided by commercial GNSS is not secur ...

2008

Hybridization of MEMS and Assisted GPS for Pedestrian Navigation

Valérie Jeanne Thérèse Renaudin-Schouler, Phillip Tomé, Okan Yalak

Exploration of hybrid inertial/GPS systems to provide continuous positioning through varying environments represents a growing field of interest to researchers. In particular, first responders and public safety professional would like to see robust systems ...

2007