This paper presents preliminary development of autonomous sensor-guided behaviors for a six-legged dynamical robot (RHex). These behaviors represent the first exteroceptive closed-loop locomotion strategies for this system. Simple motion models for RHex are described and used to deploy controllers for inertial straight line locomotion and visual line following. Results are experimentally valida...

Synopsis The usual definition of electric and magnetic field intensities (E and H) in a noninertial coordinate system is not unique. A system of reference is here newly defined as a continuous, three dimensional distribution of observers, with each of which a frame of reference (orthonormal tetrad) is associated. The fields E and H in such a reference system will always be given by the same phy...

In this paper we present a novel large scale SLAM system that combines dense stereo vision with inertial tracking. The system divides space into a grid and efficiently allocates GPU memory only when there is surface information within a grid cell. A rolling grid approach allows the system to work for large scale outdoor SLAM. A dense visual inertial dense tracking pipeline incrementally localiz...

The location-aware technologies are crucial for cyber physical applications. In this contribution, a smart indoor localisation system is proposed: it is able to recognise and track user activities, given the initial pose. The key idea is the well-known prediction-correction approach used in field robotics. To this end, a rough estimate of the user position is formed by exploiting proprioceptive...

This paper describes a prototype of an inertial navigation system for use in mobile land vehicles, such as cars or mobile robots. The complete system is composed by sensors, their mechanical mount and cabling, these connect to a PC card with local processing and memory, based on a Intel 80C196KC microcontroller. The sensors used were a piezoelectric vibrating gyroscope, two silicon acceleromete...

With recent advancements in Global Positioning Systems (GPS), localization systems are now typically equipped with a GPS. However, in a large variety of environments and real-world applications, GPS-based localization systems are not practical. This research tackles such a problem and illustrates the idea of fusing a camera and an inertial navigation system (INS) to create a dead reckoning loca...

Inertial navigation systems use dead-reckoning to estimate the pedestrian's position. There are two types of pedestrian dead-reckoning, the strapdown algorithm and the step-and-heading approach. Unlike the strapdown algorithm, which consists of the double integration of the three orthogonal accelerometer readings, the step-and-heading approach lacks the vertical displacement estimation. We prop...

This article presents a technique for modeling and calibrating a camera with integrated low-cost inertial sensors, three gyros and three accelerometers for full 3D sensing. Inertial sensors attached to a camera can provide valuable data about camera pose and movement. In biological vision systems, inertial cues provided by the vestibular system, are fused with vision at an early processing stag...