Visual and inertial sensors, in combination, are able to provide accurate motion estimates and are well-suited for use in many robot navigation tasks. However, correct data fusion, and hence overall performance, depends on careful calibration of the rigid body transform between the sensors. Obtaining this calibration information is typically difficult and time-consuming, and normally requires a...

Navigation in autonomous vehicles involves integrating measurements from on–board inertial sensors and external data collected by various sensors. In this paper, the computer–frame velocity error model is augmented with a random constant model of accelerometer bias and rategyro drift for use in a Kalman filter–based fusion of a lowcost rotating inertial navigation system (INS) with external pos...

The time delay calibration between Light Detection and Ranging (LiDAR) and Inertial Measurement Units (IMUs) is an essential prerequisite for its applications. However, the correspondences between LiDAR and IMU measurements are usually unknown, and thus cannot be computed directly for the time delay calibration. In order to solve the problem of LiDAR-IMU time delay calibration, this paper prese...

In this note we study the local behavior of singularities occurring in scale space under Gaussian blurring. Based on ideas from singularity theory for vector fields this is done by considering deformations or unfoldings. To deal with the special nature of the problem the concept of Gaussian deformation is introduced. Using singularity theory the stability of these deformations is considered. Ne...

OBJECTIVE To evaluate the use of inertial measurement units (IMU) for quantification of canine limb kinematics. METHODS Sixteen clinically healthy, medium-sized dogs were enrolled. Baseline kinematic data were acquired using an optical motion capture system. Following this baseline data acquisition, a harness system was used for attachment of IMU to the animals. Optical kinematic data of dogs...

The purpose of this study was to identify consistent features in the signals supplied by a single inertial measurement unit (IMU), or thereof derived, for the identification of foot-strike and foot-off instants of time and for the estimation of stance and stride duration during the maintenance phase of sprint running. Maximal sprint runs were performed on tartan tracks by five amateur and six e...

In the Global Positioning System (GPS)/Inertial Navigation System (INS) deep integration system, the pure negative effect of the INS aiding is mainly the INS navigation error that is independent with the motion dynamics, which determine whether the INS aiding is worthy. This paper quantitatively assesses the negative effects of the inertial aiding information from different grades of INS by mod...

Ultra-low-cost single-chip inertial measurement units (IMUs) combined into IMU arrays are opening up new possibilities for inertial sensing. However, to make these systems practical for researchers, a simple calibration procedure that aligns the sensitivity axes of the sensors in the array is needed. In this letter, we suggest a novel mechanical-rotation-rig-free calibration procedure based on ...

BACKGROUND Macular edema is a common cause of visual loss at uveitic patients. The aim of our study was to investigate retinal and choroidal thickness at the macula in anterior (AU) and intermediate (IMU) uveitis and in healthy individuals using spectral domain optical coherence tomography (SD-OCT). METHODS Case-control study of 21 patients with AU and 23 patients with IMU and 34 age-matched ...