Publications de Jan Skaloud | EPFL Graph Search

Publications associées (100)

Optimal Stochastic Sensor Error Modeling based on Actual Impact on Quality of GNSS-INS Integrated Navigation

Jan Skaloud, Stéphane Guerrier, Mehran Khaghani

Proper modeling of stochastic errors in inertial sensors plays a crucial role in the achievable quality of GNSS-INS integration especially with low-cost inertial sensors. Generalized Method of Wavelet Moments (GMWM) can model the underlying process for suc ...

2019

On the Perspectives of Image-to-Lidar Constraints in Dynamic Network Optimisation

Thibaut Stoltz, Jan Skaloud, Davide Antonio Cucci, Laurent Valentin Jospin, Kyriaki Mouzakidou

The evolution of airborne mapping witnesses the introduction of hybrid lidar-camera systems to enhance data collection, i.e. to obtain simultaneously high-density point-cloud and texture. Yet, the common adjustment of both optical data streams is a nontriv ...

International Society for Photogrammetry and Remote Sensing2025

Applicability Of New Approaches Of Sensor Orientation To Micro Aerial Vehicles

Jan Skaloud, Martin Rehak

This study highlights the benefits of precise aerial position and attitude control in the context of mapping with Micro Aerial Vehicles (MAVs). Accurate mapping with MAVs is gaining importance in applications such as corridor mapping, road and pipeline ins ...

Copernicus Gesellschaft Mbh2016

Constrained expectation-maximization algorithm for stochastic inertial error modeling: study of feasibility

Jan Skaloud, Stéphane Guerrier, Yannick Stebler

Stochastic modeling is a challenging task for low-cost sensors whose errors can have complex spectral structures. This makes the tuning process of the INS/GNSS Kalman filter often sensitive and difficult. For example, first-order Gauss–Markov processes are ...

IOP Publishing2011

Wavelet-Based Moment-Matching Techniques for Inertial Sensor Calibration

Jan Skaloud, Stéphane Guerrier, Mehran Khaghani

The task of inertial sensor calibration has required the development of various techniques to take into account the sources of measurement error coming from such devices. The calibration of the stochastic errors of these sensors has been the focus of incre ...

2020

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

Jan Skaloud, Davide Antonio Cucci, Aurélien Arnaud Brun, Kyriaki Mouzakidou

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 ...

2024

Bundle adjustment with raw inertial observations

Jan Skaloud, Martin Rehak, Davide Antonio Cucci

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

Automated approach for rigorous light detection and ranging system calibration without preprocessing and strict terrain coverage requirements

Jan Skaloud

Light detection and ranging (LiDAR) has demonstrated its capabilities as a prominent technique for the direct acquisition of high density and accurate topographic information. To achieve the potential accuracy of such systems, a rigorous system calibration ...

Spie-Soc Photo-Optical Instrumentation Engineers2012

Automatic Identification and Calibration of Stochastic Parameters in Inertial Sensors

Jan Skaloud, Stéphane Guerrier

We present an algorithm for determining the nature of stochastic processes and their parameters based on the analysis of time series of inertial errors. The algorithm is suitable mainly (but not only) for situations where several stochastic processes are s ...

Wiley Periodicals, Inc2015

An overview of a new sensor calibration platform

Jan Skaloud, Stéphane Guerrier, Philipp Clausen

Inertial sensors are increasingly being employed in different types of applications. The reduced cost and the extremely small size makes them the number-one-choice in miniature embedded devices like phones, watches, and small unmanned aerial vehicles. The ...

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

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

Jan Skaloud, Pasquale Longobardi

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, ...

2024

Wind Estimation with Multirotor UAVs

Jan Skaloud

Unmanned Aerial Vehicles (UAVs) have benefited from a tremendous increase in popularity over the past decade, which has inspired their application toward many novel and unique use cases. One of them is the use of UAVs in meteorological research, in particu ...

2022

Mapping with MAV: Experimental Study on the Contribution of Absolute and Relative Aerial Position Control

Jan Skaloud, Martin Rehak

This study highlights the benefit of precise aerial position control in the context of mapping using frame-based imagery taken by small UAVs. We execute several flights with a custom Micro Aerial Vehicle (MAV) octocopter over a small calibration field equi ...

The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences2014

Accurate Trajectory and Orientation of a Motorcycle derived from low-cost Satellite and Inertial Measurement Systems

Christophe Prongué, Jan Skaloud, Alain Schorderet, Adrian Ulrich Wägli

Inertially aided satellite positioning can bring its benefits to all disciplines in which detailed knowledge of the trajectory is a prerequisite for improving performance. In motorcycling for instance, the determination of slips of tires requires the deter ...

2008

On raw inertial measurements in dynamic networks

Jan Skaloud, Davide Antonio Cucci

Dynamic Networks have been introduced in the literature to solve multi-sensor fusion problems for navigation and mapping. They have been shown to outperform conventional methods in challenging scenarios, such as corridor mapping or self-calibration. In thi ...

2019

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

Jan Skaloud, Davide Antonio Cucci, Aurélien Arnaud Brun

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 ...

2022

Optimization of two GPS/MEMS-IMU integration strategies with application to sports

Jan Skaloud, Adrian Ulrich Wägli

The application of low-cost L1 GPS receivers integrated with micro-electro-mechanical system (MEMS) inertial measurement units (IMU) allows the continuous observation of position, velocity and orientation which opens new possibilities for comparison orf at ...

Springer Verlag2009

Identifying Aerodynamics of Delta-Wing Drones for Model-Based Navigation: A Comparative Study

Jan Skaloud, Aman Sharma, Pasquale Longobardi

This paper presents a comparative analysis of two methodologies for estimating unknown parameters in a Vehicle Dynamic Model (VDM)-based sensor fusion framework for small drones. Focusing on a delta-wing drone, we conduct open-air wind tunnel experiments t ...

Institute of Electrical and Electronics Engineers (IEEE)2024

Performance assessment of integrated sensor orientation with a low-cost GNSS receiver

Jan Skaloud, Martin Rehak

Mapping with Micro Aerial Vehicles (MAVs whose weight does not exceed 5 kg) is gaining importance in applications such as corridor mapping, road and pipeline inspections, or mapping of large areas with homogeneous surface structure, e.g. forest or agricult ...

Copernicus GmbH2017