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cs.RO2026
Calibration-free IMU-based Relative Orientation Estimation under Dynamic Human Motion
Ruiyuan Li, Hassan Osman, Ajay Seth +1
Recent magnetometer-free inertial measurement unit (IMU) methods can reduce drift in joint motion estimation using rigid-body constraints, but they typically require pre-calibrated…
eess.SP2026
Inertial Human Motion Capture: From Biomechanics to Recent Sensor Fusion Methods and Back
Manon Kok, Ive Weygers, Hassan Osman +4
Inertial measurement units (IMUs) are a promising means to capture human motion, yet obtaining meaningful biomechanical quantities from IMU measurements remains non-trivial. This t…
eess.SY2026
Physics-Guided Recurrent State-Space Neural Networks for Multi-Step Prediction
Ruiyuan Li, Ajay Seth, Manon Kok
State-space models are traditionally based on physical knowledge, but multi-step predictions from these physical models can be poor due to model inaccuracy. Black-box deep learning…