scholarly journals Real-Time Parallel-Serial LiDAR-Based Localization Algorithm with Centimeter Accuracy for GPS-Denied Environments

Sensors ◽  
2020 ◽  
Vol 20 (24) ◽  
pp. 7123
Author(s):  
Jakub Niedzwiedzki ◽  
Adam Niewola ◽  
Piotr Lipinski ◽  
Piotr Swaczyna ◽  
Aleksander Bobinski ◽  
...  
Keyword(s):  
Real Time ◽  
Inertial Measurement Unit ◽  
Gaussian Mixture ◽  
Measurement Unit ◽  
Localization Algorithm ◽  
Parallel Data ◽  
Robot Positioning ◽  
Experimental Findings ◽  
Serial Algorithm ◽  
Fusion Approach

In this paper, we introduce a real-time parallel-serial algorithm for autonomous robot positioning for GPS-denied, dark environments, such as caves and mine galleries. To achieve a good complexity-accuracy trade-off, we fuse data from light detection and ranging (LiDAR) and an inertial measurement unit (IMU). The proposed algorithm’s main novelty is that, unlike in most algorithms, we apply an extended Kalman filter (EKF) to each LiDAR scan point and calculate the location relative to a triangular mesh. We also introduce three implementations of the algorithm: serial, parallel, and parallel-serial. The first implementation verifies the correctness of our innovative approach, but is too slow for real-time execution. The second approach implements a well-known parallel data fusion approach, but is still too slow for our application. The third and final implementation of the presented algorithm along with the state-of-the-art GPU data structures achieves real-time performance. According to our experimental findings, our algorithm outperforms the reference Gaussian mixture model (GMM) localization algorithm in terms of accuracy by a factor of two.

scholarly journals Real-Time Gait Analysis Using a Single Head-Worn Inertial Measurement Unit

2018 ◽  
Vol 64 (2) ◽  
pp. 240-248 ◽  
Author(s):  
Tong-Hun Hwang ◽  
Julia Reh ◽  
Alfred O. Effenberg ◽  
Holger Blume
Keyword(s):  
Gait Analysis ◽  
Real Time ◽  
Inertial Measurement Unit ◽  
Measurement Unit ◽  
Inertial Measurement

Development and Implementation of a Novel Digital Shot Sensor System

2013 ◽  
Vol 364 ◽  
pp. 228-232
Author(s):  
Wei Tian Wang ◽  
Quan Jun Song ◽  
Yu Man Nie ◽  
Bu Yun Wang ◽  
Hong Yu Ren ◽  
...  
Keyword(s):  
Real Time ◽  
Information Acquisition ◽  
Inertial Measurement Unit ◽  
Degrees Of Freedom ◽  
Sensor System ◽  
Measurement Unit ◽  
Inertial Measurement ◽  
Kinetic Information ◽  
Shot Put

Kinetic information acquisition of shot throwing is significant for the train of shot put athletes. This paper presents a novel sensor system based on a 9 degrees of freedom inertial measurement unit, which provides attitude information of shot throwing in real time. The sensor system is designed with modularized structure and installed in the digital shot which has almost the same size and weight as the standard shot for females. A multi-target and multi-parameter information acquisition platform is constructed to acquire kinematics information. With the help of the sensor system, the coaches can combine attitude information with kinematics data to analyze the shot throwing movements.

scholarly journals Trends in Inertial Navigation Technologies

2021 ◽  
Vol 906 (1) ◽  
pp. 012069
Author(s):  
Stanislav Hodas ◽  
Jana Izvoltova ◽  
Donatas Rekus
Keyword(s):  
Real Time ◽  
Inertial Measurement Unit ◽  
Electronic Device ◽  
Inertial Navigation ◽  
Relative Orientation ◽  
Measurement Unit ◽  
Inertial Measurement ◽  
Below Ground ◽  
Autonomous Technology

Abstract The inertial measurement unit is an electronic device built-in practically in any controlled or autonomous technology used for land mapping. It is based on a combination of accelerometers and gyroscopes and sometimes magnetometers used for relative orientation and navigation. The paper is focused on functions and trends of an inertial measurement unit, which is a part of inertial navigation indicator of position and velocity of moving devices on the ground, above and below ground in real-time.

Visual servoing applied to real-time stabilization of a multi-rotor UAV

Robotica ◽  
2012 ◽  
Vol 30 (7) ◽  
pp. 1203-1212 ◽  
Author(s):  
Hugo Romero ◽  
Sergio Salazar ◽  
Rogelio Lozano
Keyword(s):  
Real Time ◽  
Inertial Measurement Unit ◽  
Visual Servoing ◽  
Vision System ◽  
Measurement Unit ◽  
Translational Velocity ◽  
Inertial Measurement ◽  
Second Stage ◽  
Yaw Angle ◽  
Flying Robot

SUMMARYIn this paper we address the problem of stabilization and local positioning of a four-rotor rotorcraft using computer vision. Our approaches to estimate the orientation and position of the rotorcraft combine the measurements from an Inertial Measurement Unit (IMU) and a vision system composed of a single camera. In the first stage, the vision system is used to estimate the position and yaw angle of the rotorcraft, while in the second stage the vision system is used to estimate the translational velocity of the flying robot. In both cases the IMU gives the pitch and roll angles at a higher rate. The technique used to estimate the position of the rotorcraft in the first stage combines the homogeneous transformation approach for the camera calibration process with the plane-based pose method for estimating the position. In the second stage, a navigation system using the optical flow is also developed to estimate the translational velocity of the aircraft. We present real-time experiments of stabilization and location of a four-rotor rotorcraft.

scholarly journals Obtaining Vital Distances Using Wearable Inertial Measurement Unit for Real-Time, Biomechanical Feedback Training in Hammer-Throw

2018 ◽  
Vol 8 (12) ◽  
pp. 2470 ◽  
Author(s):  
Ye Wang ◽  
Hua Li ◽  
Bingjun Wan ◽  
Xiang Zhang ◽  
Gongbing Shan
Keyword(s):  
Real Time ◽  
Inertial Measurement Unit ◽  
Lower Limbs ◽  
Measurement Unit ◽  
Wearable System ◽  
Inertial Measurement ◽  
Wire Tension ◽  
Feedback Training ◽  
Control Patterns ◽  
Tracking Device

The hammer throw is one of the regular track and field competitions, but unlike other events, it has not seen a new world record for over three decades. The standstill may be caused by the lack of scientifically based training. In our previous work, we have developed a wireless/wearable device for the wire tension measurement in order to develop real-time biomechanical feedback training. In this paper, we show the improvement of our wearable system by adding two sensors for tracking of two vital vertical distances. The paper describes the details related to the development of turning an inertial measurement unit into a tracking device for the dynamic distances. Our preliminary data has shown that the dynamic data of the hip and wrist could be used for revealing the coordination between the upper and the lower limbs during a throw. In conjunction with wearable wire-tension measurement, various motor control patterns employed for hammer throwing could be demystified. Such real-time information could be valuable for hammer-throw learning and optimization. Further studies are required to verify the potentials of the wearable system for its efficiency and effectiveness in coaching practice.

Agricultural Machinery Operation Posture Rapid Detection Method Based on Intelligent Sensor

2013 ◽  
Vol 373-375 ◽  
pp. 936-939
Author(s):  
Nan Feng Zhang ◽  
Jing Feng Yang ◽  
Yue Ju Xue ◽  
Zhong Li ◽  
Xiao Lin Huang
Keyword(s):  
Real Time ◽  
Rapid Detection ◽  
Inertial Measurement Unit ◽  
Detection Method ◽  
Measurement Unit ◽  
Test Results ◽  
Agricultural Machinery ◽  
Intelligent Sensor ◽  
Inertial Measurement ◽  
Status Data

Based on agricultural machinery body posture detection parameters and wheels gesture detection parameters collected by gyro inertial measurement unit, an agricultural machinery operation posture rapid detection method is proposed in this paper. The test results show that, the test results of the method are accurate and available, and the method is effective and available for real-time body and wheel status data to further understand the agricultural machinery.

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