Targetless Camera-LiDAR Calibration for Autonomous Systems

In recent decades, the field of autonomous driving has witnessed rapid development, benefiting from the development of artificial intelligence-related technologies such as machine learning. Autonomous perception in driving is a key challenge, in which multi-sensor fusion is a common feature. Due to the high resolution and rich information, the...

Noninvasive Respiratory Analysis using Piezoelectric Sensor Array: A BSc Thesis

In this study multiple design approaches have been tried to accurately determine the respiratory rate every 30 seconds of a patient in a hospital bed using six piezoelectric pressure sensors located sand­wiched between the mattress and the bed. After four design iterations using a variety of different methods, a final design using a Least Mean...

Iterative Bias Estimation for an Ultra-Wideband Localization System

Three bias estimation frameworks are presented that mitigate position-dependent ranging errors often present in ultra-wideband localization systems. State estimation and control are integrated, such that the positioning accuracy improves over iterations. The frameworks are experimentally evaluated on a quadcopter platform. Two state augmentation...

A Day in a Wheelchair

Advances in sensing and machine learning technologies give rise to personal health coaches that monitor human activities and support healthy behaviour. In this context, wheelchair users can benefit from such technologies as they often suffer from physical ailments due to insufficient or over activity, prolonged improper posture and lack of...

Multi-Rate Unscented Kalman Filtering for Pose Estimation: Using a car-like vehicle-platform

Pose estimation through fusion of GNSS with secondary sensors has long been an established field. With the developments surrounding autonomous navigation over the past decade this topic has gained extra importance. In the current literature GNSS based pose and localisation is often improved through fusion with either a IMU}or VS with the goal of...

Jump Markov Nonlinear System Identification in Multi-Sensor Target Tracking: A Novel Approach for Multiple Model Joint Tracking and Behavior Classification

The detection of unusual behavior plays a crucial role in the prevention of illegal and harmful activities such as smuggling, piracy, arms trading, human trafficking and illegal immigration. Also for military applications, it is useful to detect anomalous behavior to provide an alert for potential threats, especially with the more recent...

Sensor Data Fusion of Lidar and Camera for Road User Detection

Object detection is one of the most important research topics in autonomous vehicles. The detection systems of autonomous vehicles nowadays are mostly image-based ones which detect target objects in the images. Although image-based detectors can provide a rather accurate 2D position of the object in the image, it is necessary to get the accurate...

Designing an Innovative Brake Control System

Current trailers and caravans use overrun brakes, which cause overheated brakes in the mountains. A solution is to design an electric brake system in which the brakes are controlled electronically instead of mechanically. The report discusses the control models associated with braking, anti-sway detection and velocity sensor fusion. The RDW...

Sensor Fusion of Computer Vision and Stock Sensors for Vehicle Dynamic Sideslip Estimation: Providing reliable state estimates with on-board sensors to support autonomous vehicle drift control

Motion tracking in field sports using GPS and IMU

Injuries are a sportsman’s worst nightmare: They withhold players from playing, they weaken teams and they force clubs to buy a bench-full of substitutes. On top of that, injuries can cause an awful lot of pain. Regulating match and training intensity can drastically decrease the risk of getting injured. Furthermore, it can optimally prepare...

Sensor Fusion and Observer Design for Dynamic Positioning

The fusion of measurements from distributed sensors for dynamic positioning (DP) system based on state estimation algorithms is studied in this thesis in order to increase the accuracy and redundancy of the reference system in DP and a state observer is also designed to estimate of the low frequency vessel motion for the input of DP controller....

Sensor Fusion on a Humanoid Robot

When a humanoid robot is performing a certain task and is simultaneously maintaining balance, it is important that it can accurately measure its own state. The state is described by a number of variables, such as the center of mass (CoM) and the location of the feet. This information is used by the motion controllers to properly execute the task...

Optical Flow Based State Estimation for an Indoor Micro Aerial Vehicle

This work addresses the problem of indoor state estimation for autonomous flying vehicles with an optic flow approach. The paper discusses a sensor configuration using six optic flow sensors of the computer mouse type augmented by a three-axis accelerometer to estimate velocity, rotation, attitude and viewing distances. It is shown that the...