29 citations · 81 across the 21 of their papers we have counts for
25 papers
MuyBridge: Mobile Human Center-of-Mass Estimation from Monocular Video via Sparse Fusion
Aidan Bradshaw, Marco Giordano, David Rode +8
The 3D center of mass (CoM) is a primary quantity in the biomechanical analysis of sport, rehabilitation, and clinical movement, yet existing 3D pose tracking, mesh recovery, and m…
An Energy-Proportional Multimodal and Context-Aware Vision IoT Node
Julian Moosmann, Philipp Mayer, Luca Benini +1
While recent advancements in TinyML have significantly reduced the computational complexity of on-device vision pipelines, image acquisition remains a dominant contributor to syste…
Multi-Sensor Edge Angle Detection for Performance Analysis in Ski Jumping
Ivan Simeonov, Lukas Schulthess, Hanna Mueller +4
In ski jumping, performance during the gliding phase depends on achieving an aerodynamic posture that maximizes the lift-to-drag ratio. In the V-style technique, the ski edge angle…
LocalNav: Distilling Frontier VLMs and Embodied RL for On-Device Object Goal Navigation
Nicolas Baumann, Liam Boyle, Pu Deng +5
Vision Language Models (VLMs) have emerged in the robotic domain as a powerful tool that enables environmental perception with language context, serving as a catalyst for open-voca…
A Time-Synchronized Video Reference System for Data Analysis of Body-Attached Sensor Nodes in Outdoor Scenarios
Lukas Schulthess, Fabian Pleisch, Matheo Käch +4
Wearable body-attached multi-sensor systems enable detailed analysis of human motion and physiological signals in sports, rehabilitation, and movement research. While wireless sync…
Wireless Low-Latency Synchronization for Body-Worn Multi-Node Systems in Sports
Nico Krull, Lukas Schulthess, Michele Magno +2
Biomechanical data acquisition in sports demands sub-millisecond synchronization across distributed body-worn sensor nodes. This study evaluates and characterizes the Enhanced Shoc…
Sub-Millisecond Event-Based Eye Tracking on a Resource-Constrained Microcontroller
Marco Giordano, Pietro Bonazzi, Luca Benini +1
This paper presents a novel event-based eye-tracking system deployed on a resource-constrained microcontroller, addressing the challenges of real-time, low-latency, and low-power p…
RobotxR1: Enabling Embodied Robotic Intelligence on Large Language Models through Closed-Loop Reinforcement Learning
Liam Boyle, Nicolas Baumann, Paviththiren Sivasothilingam +2
Future robotic systems operating in real-world environments will require on-board embodied intelligence without continuous cloud connection, balancing capabilities with constraints…
Enhancing Autonomous Driving Systems with On-Board Deployed Large Language Models
Nicolas Baumann, Cheng Hu, Paviththiren Sivasothilingam +4
Neural Networks (NNs) trained through supervised learning struggle with managing edge-case scenarios common in real-world driving due to the intractability of exhaustive datasets c…
BodySense: An Expandable and Wearable-Sized Wireless Evaluation Platform for Human Body Communication
Lukas Schulthess, Philipp Mayer, Christian Vogt +2
Wearable, wirelessly connected sensors have become a common part of daily life and have the potential to play a pivotal role in shaping the future of personalized healthcare. A key…
BatDeck -- Ultra Low-power Ultrasonic Ego-velocity Estimation and Obstacle Avoidance on Nano-drones
Hanna Müller, Victor Kartsch, Michele Magno +1
Nano-drones, with their small, lightweight design, are ideal for confined-space rescue missions and inherently safe for human interaction. However, their limited payload restricts…
PEtra: A Flexible and Open-Source PE Loop Tracer for Polymer Thin-Film Transducers
Marc-Andre Wessner, Federico Villani, Sofia Papa +5
Accurate characterization of ferroelectric properties in polymer piezoelectrics is critical for optimizing the performance of flexible and wearable ultrasound transducers, such as…
PuLsE: Accurate and Robust Ultrasound-based Continuous Heart-Rate Monitoring on a Wrist-Worn IoT Device
Marco Giordano, Christoph Leitner, Christian Vogt +2
This work explores the feasibility of employing ultrasound (US) US technology in a wrist-worn IoT device for low-power, high-fidelity heart-rate (HR) extraction. US offers deep tis…
Ultra-Lightweight Collaborative Mapping for Robot Swarms
Vlad Niculescu, Tommaso Polonelli, Michele Magno +1
A key requirement in robotics is the ability to simultaneously self-localize and map a previously unknown environment, relying primarily on onboard sensing and computation. Achievi…
Low Latency Visual Inertial Odometry with On-Sensor Accelerated Optical Flow for Resource-Constrained UAVs
Jonas Kühne, Michele Magno, Luca Benini
Visual Inertial Odometry (VIO) is the task of estimating the movement trajectory of an agent from an onboard camera stream fused with additional Inertial Measurement Unit (IMU) mea…
A Passive and Asynchronous Wake-up Receiver for Acoustic Underwater Communication
Lukas Schulthess, Philipp Mayer, Luca Benini +1
Establishing reliable data exchange in an underwater domain using energy and power-efficient communication methods is crucial and challenging. Radio frequencies are absorbed by the…
SliM-LLM: Salience-Driven Mixed-Precision Quantization for Large Language Models
Wei Huang, Haotong Qin, Yangdong Liu +7
Post-training quantization (PTQ) is an effective technique for compressing large language models (LLMs). However, while uniform-precision quantization is computationally efficient,…
BatDeck: Advancing Nano-drone Navigation with Low-power Ultrasound-based Obstacle Avoidance
Hanna Müller, Victor Kartsch, Michele Magno +1
Nano-drones, distinguished by their agility, minimal weight, and cost-effectiveness, are particularly well-suited for exploration in confined, cluttered and narrow spaces. Recogniz…
Quantitative Evaluation of a Multi-Modal Camera Setup for Fusing Event Data with RGB Images
Julian Moosmann, Jakub Mandula, Philipp Mayer +2
Event-based cameras, also called silicon retinas, potentially revolutionize computer vision by detecting and reporting significant changes in intensity asynchronous events, offerin…
Ultra-Efficient On-Device Object Detection on AI-Integrated Smart Glasses with TinyissimoYOLO
Julian Moosmann, Pietro Bonazzi, Yawei Li +4
Smart glasses are rapidly gaining advanced functions thanks to cutting-edge computing technologies, especially accelerated hardware architectures, and tiny Artificial Intelligence…
Fully Onboard Low-Power Localization with Semantic Sensor Fusion on a Nano-UAV using Floor Plans
Nicky Zimmerman, Hanna Müller, Michele Magno +1
Nano-sized unmanned aerial vehicles (UAVs) are well-fit for indoor applications and for close proximity to humans. To enable autonomy, the nano-UAV must be able to self-localize in…
Towards a Novel Ultrasound System Based on Low-Frequency Feature Extraction From a Fully-Printed Flexible Transducer
Marco Giordano, Kirill Keller, Francesco Greco +3
Ultrasound is a key technology in healthcare, and it is being explored for non-invasive, wearable, continuous monitoring of vital signs. However, its widespread adoption in this sc…
Skilog: A Smart Sensor System for Performance Analysis and Biofeedback in Ski Jumping
Lukas Schulthess, Thorir Mar Ingolfsson, Marc Nölke +3
In ski jumping, low repetition rates of jumps limit the effectiveness of training. Thus, increasing learning rate within every single jump is key to success. A critical element of…
NanoSLAM: Enabling Fully Onboard SLAM for Tiny Robots
Vlad Niculescu, Tommaso Polonelli, Michele Magno +1
Perceiving and mapping the surroundings are essential for enabling autonomous navigation in any robotic platform. The algorithm class that enables accurate mapping while correcting…