Current motion tracking technologies fail to provide accurate wide area tracking of multiple users without interference and occlusion problems. These limitations make difficult the construction of a practical and intuitive interface, which allows humans to be inserted into networked virtual environments in a fully immersive manner. Advances in the field of miniature sensors make possible inerti...

To improve the accuracy of indoor pedestrian positioning, an indoor pedestrian positioning system with two-order Bayesian estimation based on Extended Kalman Filter (EKF) and Particle Filter (PF) is proposed in this paper. The presented system combines a foot-mounted inertial sensor, a Wi-Fi propagation model and building structure to make good use of these information resources. There are two ...

The application of the divided derivative filters is described, applied and compared to the most popular tool in estimation , the extended Kalman filter (EKF). In our work the first order divided difference filter and the second order divided difference filter were simulated and applied to integrated navigation system including inertial measurement unit (i) and global positioning system. These ...

Within the last years extensive tests were done to investigate the accuracy performance of integrated GPS/inertial systems for direct georeferencing in airborne photogrammetric environments. Based on commercially available high performance GPS/inertial systems direct georeferencing was shown to be a serious alternative to standard indirect image orientation using classical or GPS-supported aeri...

The monocular visual-inertial system (VINS), which consists one camera and one low-cost inertial measurement unit (IMU), is a popular approach to achieve accurate 6-DOF state estimation. However, such locally accurate visualinertial odometry is prone to drift and cannot provide absolute pose estimation. Leveraging history information to relocalize and correct drift has become a hot topic. In th...

STABILIZATION OF GAZE IS A FUNDAMENTAL REQUIREMENT OF AN ACTIVE VISUAL SYSTEM FOR AT LEAST TWO REASONS: (i) to increase the robustness of dynamic visual measures during observer's motion; (ii) to provide a reference with respect to the environment ([Ballard and Brown, 1992]). The aim of this paper is to address the former issue by investigating the role of integration of visuo-inertial informat...

Over a two year period, two generations of electronics hardware for a fully functional autonomous aerial vehicle have been developed. Both custom-designed and off-the-shelf components have been integrated on a small radio controlled helicopter. This vehicle, the Draper Small Autonomous Aerial Vehicle (DSAAV), is now capable of fully autonomous take-off, way-point guidance, vision processing and...

In the following, we offer a novel approach to modeling the observed effects currently attributed to the theoretical concepts of "dark energy," "dark matter," and "dark flow." Instead of assuming the existence of these theoretical concepts, we take an alternative route and choose to redefine what we consider to be inertial motion as well as what constitutes an inertial frame of reference in fla...