The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper presents a real-time calibration method for gyro sensors in consumer portable devices. The calibration happens automatically without the need for external equipment or user intervention. Multilevel constraints, including the pseudoobservations, the accelerometer and magnetometer measurements, and the quasi-static attitude updates, are used to make the method reliable and accurate under...
In this paper we consider position control of underwater vehicles through inversion of differential kinematics based on uncalibrated, relative to the water, velocity sensors and unknown marine current. An estimation algorithm, based on the above measurements, estimates calibration parameters and marine current, assuring convergence of the estimated velocities to the true quantities. A kinematic control...
Aiming at the scarcity of research of vehicle's navigation in non-signal environment, this paper prevents an approach of automatic path planning and navigation by two stereo cameras. Our approach is consist of three major steps. The first issue is stereo cameras calibration, to get parameters of camera. And then, SGM (Semi-Global Matching) algorithm, contribute in this part in order to get precise...
Inertial navigation systems for pedestrians are infrastructure-less and can achieve sub-meter accuracy in the short/medium period. However, when low-cost inertial measurement units (IMU) are employed for their implementation, they suffer from a slowly growing drift between the true pedestrian position and the corresponding estimated position. In this paper we illustrate a novel solution to mitigate...
In this work we have designed and developed a new navigation system for interventional radiology, implemented in a light and compact device. The system attached to the needle is composed by a small screen that gives hints about the position and the orientation, a controller that commands the screen and interfaces with the computer, and a marker that communicates with a tracking system. By using a...
This paper addresses the theoretical and experimental development of a calibration scheme to overcome the intrinsic limitations of a low-cost Micro-Electrical-Mechanical System (MEMS) based Inertial Measurement Unit (IMU). The two-stage calibration algorithm was developed and tested successfully on a six-degree of freedom prototype MEMS IMU to determine the deterministic and stochastic errors of the...
In this paper, a novel method for estimating the transformation between an inertial measurement unit (IMU) and a camera together with the intrinsic parameters of the camera is proposed. The method relies on images of reflected feature points in a planar mirror captured by an uncalibrated camera mounted with an IMU. It does not rely on using a fixed calibration pattern in front of the moving camera...
In this paper, we first look at the problem of estimating the transformation between an inertial measurement unit (IMU) and a calibrated camera, based on images of planar mirror reflections (IPMR) of arbitrary feature points with unknown positions. Assuming that only the reflection of the feature points are observable by the camera, the IMU-camera calibration parameters and the position of the feature...
In order to estimate the approach angle and relative height of Unmanned Aircraft Vehicle (UAV) which lands autonomously, a combinational approach of monocular vision and stereo vision is presented. From monocular sequences, vanishing line is extracted by Hough transform and RANSAC algorithm, and then approach angle of UAV is calculated through vanishing line geometry. From stereo sequences, feature-based...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.