21 papers · ranked by Valyu relevance
Chang June Lee, Jung Keun Lee, Xiyuan Chen
An attitude and heading reference system (AHRS) based on the inertial measurement unit is crucial for various applications. In an AHRS, stationary alignments are performed to determine the initial orientation of the sensor frame with respect to the navigation frame. However, the stationary alignment accuracy is…
Aleš Janota, Vojtech Šimák, Dušan Nemec, Jozef Hrbček + 1 more
This article compares three different algorithms used to compute Euler angles from data obtained by the angular rate sensor (e.g., MEMS gyroscope)-the algorithms based on a rotational matrix, on transforming angular velocity to time derivations of the Euler angles and on unit quaternion expressing rotation. Algorithms…
Eldar Sultanow, Fation Selimllari, Siddhant Dutta, Barry D. Reese + 2 more
'Madjid Tehrani' 'William J. Buchanan'] Abstract. Data poisoning attacks on machine learning models [1] aim to manipulate the data used for model training such that the trained model behaves in the attacker's favor. In classical models such as deep neural networks, large chains of dot products do indeed cause errors…
Sara Stančin, Sašo Tomažič
Computationally efficient 3D orientation (3DO) tracking using gyroscope angular velocity measurements enables a short execution time and low energy consumption for the computing device. These are essential requirements in today’s wearable device environments, which are characterized by limited resources and demands for…
Qiang Fang, Tianjiang Hu
--Deep learning has been applied to camera relocalization, in particular, PoseNet and its extended work are the convolutional neural networks which regress the camera pose from a single image. However there are many problems, one of them is expensive parameter selection. In this paper, we directly explore the three…
Youngman Kim
The coordinate rotation digital computer (CORDIC) is a shift-add based fast computing algorithm which has been found in many digital signal processing (DSP) applications. In this paper, a detailed error analysis based on mean square error criteria and its implementation on FPGA is presented. Two considered error…
Yangting Sun, Zijun Cui, Yufei Zhang
In many real-world systems, including articulated robots and biomechanical models, rotations are defined in joint space and naturally parameterized by Euler angles with bounded ranges. Yet regressing Euler angles remains challenging, as their discontinuities and singularities often destabilize training. In this work…
Xin Wen, Jiazun Hu, Haiyu Chen, Shichun Huang + 3 more
'Hui Zhang' 'Balázs Székely'] Light Detection and Ranging (LiDAR), a laser-based technology for environmental perception, finds extensive applications in intelligent transportation. Deployed on roadsides, it provides real-time global traffic data, supporting road safety and research. To overcome accuracy issues arising…
Nak Yong Ko, Seokki Jeong, Youngchul Bae, Suk-Seung Hwang + 3 more
This paper describes a method for estimating the attitude of an underwater robot. The method employs a new concept of sine rotation vector and uses both an attitude heading and reference system (AHRS) and a Doppler velocity log (DVL) for the purpose of measurement. First, the acceleration and magnetic-field…
Mingze Yuan, Christian Richardt
Omnidirectional 360° images have found many promising and exciting applications in computer vision, robotics and other fields, thanks to their increasing affordability, portability and their 360° field of view. The most common format for storing, processing and visualising 360° images is equirectangular projection…
Mingxu Hu, Qi Zhang, Jing Yang, Xueming Li
Electron cryo-microscopy (cryoEM) involves the estimation of orientations of projection images or three-dimensional (3D) volumes, and it is therefore important to properly describe and operate spatial rotations. However, the current Euler angle system that is widely adopted in cryoEM has many drawbacks, which limit the…
Evandro Bernardes, Stéphane Viollet, Yaodong Gu
Current methods of the conversion between a rotation quaternion and Euler angles are either a complicated set of multiple sequence-specific implementations, or a complicated method relying on multiple matrix multiplications. In this paper a general formula is presented for extracting the Euler angles in any desired…
Jiayue Li, Ken Y. Foo, Rowan W. Sanderson, Renate Zilkens + 15 more
By mapping the mechanical properties of tissue, elastography can improve identification of breast cancer. On the macro-scale, ultrasound elastography and magnetic resonance elastography have emerged as effective clinical methods for the diagnosis of tumors. On the micro-scale, optical coherence elastography (OCE) shows…
S. K. Harootonian, R. C. Wilson, L. Hejtmánek, E. M. Ziskin + 1 more
Path integration is thought to rely on vestibular and proprioceptive cues yet most studies in humans involve primarily visual input, providing limited insight into their contributions. We developed a paradigm involving walking in an omnidirectional treadmill in which participants were guided on two legs of a triangle…
Seong Hun Lee, Javier Civera
In this work, we provide geometric interpretations of the normalized epipolar error. Most notably, we show that it is directly related to the following quantities: (1) the shortest distance between the two backprojected rays, (2) the dihedral angle between the two bounding epipolar planes, and (3) the L1-optimal…
Authors not listed
NMR chemical shifts depend on the applied magnetic flux density, and this becomes more and more important as stronger and stronger magnetic fields are becoming available. Herein, we develop a theory of the field dependence of NMR shifts of paramagnetic molecules in solution. Our derivation leads to two distinct…
Authors not listed
This work investigates different formulations of internal Coordinates for molecular dynamics (MD) simulations. The goal is to assess their advantages and limitations. Furthermore, a method is presented that evaluates the quality of the partitioning of molecular structural data into clusters based on statistical…
Jacek Turski
Human eyes’ optical components are misaligned. This study presents the geometric construction of ocular torsion in the binocular system, in which the eye model incorporates the fovea that is not located on and the lens that is tilted away from the eye’s optical axis. The ocular torsion computation involves Euler’s…
Alice Allen, Michael J. Robertson, Michael C. Payne, Daniel Cole
Molecular mechanics force field parameters for macromolecules, such as proteins, are traditionally fit to reproduce experimental properties of small molecules, and thus they neglect system-specific polarization. In this paper, we introduce a complete protein force field that is designed to be compatible with the…
Jonas Scherer, Martin M. Müller, Anabel Kroehnert, Martin Egelhaaf + 2 more
Navigation ability strongly varies between humans. Careful analysis of errors occurring in navigation, or indeed any cognitive process, offers insight into the underlying mechanisms at different levels. While analyses at the individual level allow nuanced identification of error persistences across conditions and time…
Alice Allen, Michael J. Robertson, Michael C. Payne, Daniel Cole
Molecular mechanics force field parameters for macromolecules, such as proteins, are traditionally fit to reproduce experimental properties of small molecules, and thus they neglect system-specific polarization. In this paper, we introduce a complete protein force field that is designed to be compatible with the…