Bundle adjustment with raw inertial observations

Chat with Graph Search

Ask any question about EPFL courses, lectures, exercises, research, news, etc. or try the example questions below.

DISCLAIMER: The Graph Chatbot is not programmed to provide explicit or categorical answers to your questions. Rather, it transforms your questions into API requests that are distributed across the various IT services officially administered by EPFL. Its purpose is solely to collect and recommend relevant references to content that you can explore to help you answer your questions.

Navigation of drones is predominantly based on sensor fusion algorithms. Most of these algorithms make use of some form of Bayesian filtering with a majority employing an Extended Kalman Filter (EKF), wherein inertial measurements are fused with a Global N ...

Autonomous navigation of small UAVs is typically based on the integration of inertial navigation systems (INS) together with global navigation satellite systems (GNSS). However, GNSS signals can face various forms of interference affecting their continuous ...

Tightly-coupled sensor orientation, i.e. the simultaneous processing of temporal (GNSS and raw inertial) and spatial (image and lidar) constraints in a common adjustment, has demonstrated significant improvement in the quality of attitude determination wit ...

This study aims to identify an optimal, as well as practical, parametric structure for a delta-wing UAV aerodynamic model for the purpose of model-based navigation. We present a comprehensive procedure for characterizing the aerodynamics of this platform, ...

This paper presents a comparison of machine learning (ML) methods used for three-dimensional localization of partial discharges (PD) in a power transformer tank. The study examines ML and deep learning (DL) methods, ranging from support vector machines (SV ...

Harmful chemical compounds are released daily in warehouses, chemical plants and during environmental emergencies. Their uncontrolled dispersion contributes to the pollution of the atmosphere and threatens human and animal lives. When gas leaks occur, the ...

This work focuses on understanding and identifying the drag forces applied to a rotary-wing Micro Aerial Vehicle (MAV). We propose a lumped drag model that concisely describes the aerodynamical forces the MAV is subject to, with a minimal set of parameters ...

The control possibilities for soft robots have long been hindered by the need for reliable methods to estimate their configuration. Inertial measurement units (IMUs) can solve this challenge, but they are affected by well-known drift issues. This letter pr ...

This paper proposes a novel method to improve georeferencing of airborne laser scanning by improved trajectory estimation using Vehicle Dynamic Model. In Vehicle Dynamic Model (VDM), the relationship between the dynamics of the platform and control inputs ...

The success of drone missions is incumbent on an accurate determination of the drone pose and velocity, which are collectively estimated by fusing iner- tial measurement unit and global navigation satellite system (GNSS) mea- surements. However, during a G ...

Our dataset consists of very high-resolution aerial images (50cm) and a digital elevation model (50cm) that covers approx. 2300 km2 of land above 2000m altitude in the southwestern part of Switzerland. Our land cover labels focus on alpine land cover that ...

Inertial measurement unit (IMU) sensors are widely used for motion analysis in sports and rehabilitation. The attachment of IMU sensors to predefined body segments and sides (left/right) is complex, time-consuming, and error-prone. Methods for solving the ...

The use of aerial vehicles for exploration and data collection has the potential to significantly aid environmental monitoring in environments which are dangerous and hard to navigate. However, within these environments navigation can often be restricted b ...

Many species aggregate in dense colonies. Species-specific spatial patterns provide clues about how colonies are shaped by various (a)biotic factors, including predation, temperature regulation or disease transmission. Using aerial imagery, we examined the ...

Federated Learning by nature is susceptible to low-quality, corrupted, or even malicious data that can severely degrade the quality of the learned model. Traditional techniques for data valuation cannot be applied as the data is never revealed. We present ...

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 ...

In airborne laser scanning a high-frequency trajectory solution is typically determined from inertial sensors and employed to directly geo-reference the acquired laser points. When low-cost MEMS inertial sensors are used, such as in lightweight unmanned ae ...

Safety-critical navigation applications require that estimation errors be reliably quantified and bounded. Over the last decade, significant effort has been put to guarantee a bounded position estimation by using Global Navigation Satellite Systems (GNSS) ...

With the objective of improving the registration of lidar point clouds produced by kinematic scanning systems, we propose a novel trajectory adjustment procedure that leverages on the automated extraction of selected reliable 3D point–to–point corresponden ...

The use of Unmanned Aerial Vehicles (UAVs) has surged in the last two decades, making them popular instruments for a wide range of applications, and leading to a remarkable number of scientific contributions in geoscience, remote sensing and engineering. H ...

Bundle adjustment with raw inertial observations

Chat with Graph Search

VDMNav: Software Architecture for Aerodynamically Constrained Navigation on Small Fixed-Wing Drones

VDM-based navigation for Delta-wing UAVs: Models, calibration, implementation

Airborne sensor fusion: Expected accuracy and behavior of a concurrent adjustment

Aerodynamic modeling of a delta-wing UAV for model-based navigation

Partial discharge localization in power transformer tanks using machine learning methods

Gas Sensing with Rotary-Wing Nano Aerial Vehicles

Lumped Drag Model Identification and Real-Time External Force Detection for Rotary-Wing Micro Aerial Vehicles

Soft Robot Shape Estimation With IMUs Leveraging PCC Kinematics for Drift Filtering

Model-based constraints for trajectory determination of quad-copters: Design, calibration & merits for direct orientation

Identifying aerodynamics of small fixed-wing drones using inertial measurements for model-based navigation

swissALPS: a Dataset for Imbalanced Land Cover Mapping in Alpine Regions

Automatic Body Segment and Side Recognition of an Inertial Measurement Unit Sensor during Gait

Heading for the Abyss: Control Strategies for Exploiting Swinging of a Descending Tethered Aerial Robot

Stay close, but not too close: aerial image analysis reveals patterns of social distancing in seal colonies

A Practical Influence Approximation for Privacy-Preserving Data Filtering in Federated Learning

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

On the benefit of concurrent adjustment of active and passive optical sensors with GNSS & raw inertial data

GNSS/INS Kalman Filter Integrity Monitoring with Uncertain Time Correlated Error Processes

Lidar point-to-point correspondences for rigorous registration of kinematic scanning in dynamic networks

UAV in the advent of the twenties: Where we stand and what is next