A monocular visual-inertial system (VINS), consisting of a camera and a low-cost inertial measurement unit (IMU), forms the minimum sensor suite for metric six degreesof-freedom (DOF) state estimation. However, the lack of direct distance measurement poses significant challenges in terms of IMU processing, estimator initialization, extrinsic calibration, and nonlinear optimization. In this work...

In navigation applications, the presence of an unknown bias in the measurement of rate gyros is a key performance-limiting factor. In order to estimate the gyro bias and improve the accuracy of attitude measurement, we proposed a new method which uses the rotation of an inertial measurement unit, which is independent from rigid body motion. By actively changing the orientation of the inertial m...

This paper describes the design, operation and performance test results of a miniature, low cost integrated GPS/inertial navigation system (INS) designed for use in UAV or UGV guidance systems. The system integrates a miniaturized commercial GPS with a low grade Micro-Electro-Mechanical (MEMS) inertial measurement unit (IMU). The MEMS IMU is a small self-contained package (< 1 cu inch) and incl...

This paper presents a novel solution to the metric reconstruction of objects using any smart device equipped with a camera and an inertial measurement unit (IMU). We propose a batch, vision centric approach which only uses the IMU to estimate the metric scale of a scene reconstructed by any algorithm with Structure from Motion like (SfM) output. IMUs have a rich history of being combined with m...

Purpose – The purpose of this paper is to reduce the calculation burden and speed up the estimation process of Allan variance method while ensuring the exactness of the analysis results. Design/methodology/approach – A series of six-hour static tests have been implemented at room temperature, and the static measurements have been collected from MEMS IMU. In order to characterize the various typ...

In this paper, an efficient methodology using GPS/IMU data for automatic point transformation in aerial triangulation is presented. It firstly performs matching within each strip. For point transformation between strips, with the help of GPS/IMU data, tie point’s initial position in search image of neighboring strips can be easily obtained, with high accuracy of several pixels. Then correlation...

Objective. The objectives were to show the feasibility of a wireless microelectromechanical system inertial measurement unit (MEMS-IMU) to assess the time-domain characteristics of cervical motion that are clinically useful to evaluate cervical spine movement. Methods. Cervical spine movements were measured in 18 subjects with wireless IMUs. All rotation data are presented in the Euler angle sy...

Chromosomal translocations (CTs) between immunoglobulin (Ig) genes and the BCL6 proto-oncogene are frequently associated with diffuse large B-cell lymphomas (DLBCLs) and follicular lymphomas (FLs) and are implicated in the development of these lymphomas. However, whether Ig/BCL6 translocation per se is sufficient to drive malignant transformation is not clear. To understand the biology of Ig/BC...

The present study was aimed at evaluating the Empirical Mode Decomposition (EMD) method to estimate the 3D orientation of the lower trunk during walking using the angular velocity signals generated by a wearable inertial measurement unit (IMU) and notably flawed by drift. The IMU was mounted on the lower trunk (L4-L5) with its active axes aligned with the relevant anatomical axes. The proposed ...

We augmented an existing inertial measurement unit, IMU, with a secondary module sampling at high speeds (100Hz) an array of 1260 force sensitive resistors, FSR, embedded in a flexible, thin plastic foil. Due to legacy imposed by the existing sensor platform, we were confronted with severe bandwidth restrictions on the IC channel between the two modules. The secondary module created data at abo...