In the autonomous navigation of mobile robots, precise positioning is crucial. In forest environments with weak satellite signals or in sites disturbed by complex environments, satellite positioning accuracy has difficulty in meeting the requirements of autonomous navigation positioning accuracy for robots. This article proposes a vision SLAM/UWB tightly coupled localization method and designs a UWB non-line-of-sight error identification method using the displacement increment of the visual odometer. It utilizes the displacement increment of visual output and UWB ranging information as measurement values and applies the extended Kalman filtering algorithm for data fusion. This study utilized the constructed experimental platform to collect images and ultra-wideband ranging data in outdoor environments and experimentally validated the combined positioning method. The experimental results show that the algorithm outperforms individual UWB or loosely coupled combination positioning methods in terms of positioning accuracy. It effectively eliminates non-line-of-sight errors in UWB, improving the accuracy and stability of the combined positioning system.
Download full-text PDF |
Source |
|---|---|
| http://www.ncbi.nlm.nih.gov/pmc/articles/PMC10935049 | PMC |
| http://dx.doi.org/10.3390/s24051710 | DOI Listing |
Publication Analysis
Top Keywords
Similar Publications
Dynamic Navigation in Dental Implantology.
Discoveries (Craiova)
December 2023
Periodontics Division, Department of Dentistry, All India Institute of Medical Sciences, Bathinda, Punjab, India.
Implant placement for dental rehabilitation has gained more popularity among patients in the recent past. Dental Implants are the workhorse of dentistry. Previously, the implants were placed with the help of the traditional freehand approach.
View Article and Find Full Text PDFOptical tweezers in biomedical research - progress and techniques.
J Med Life
November 2024
Biophysics and Cellular Biotechnology Department, Carol Davila University of Medicine and Pharmacy, Bucharest, Romania.
Optical tweezers, which leverage the forces exerted by radiation pressure, have emerged as a pivotal technique for precisely manipulating and analyzing microscopic particles. Since Arthur Ashkin's ground-breaking work in the 1970s and the subsequent development of the single-beam optical trap in 1986, the capabilities of optical tweezers have expanded significantly, enabling the intricate manipulation of biological specimens at the micro- and nanoscale. This review elucidates the foundational principles of optical trapping and their extensive applications in the biomedical sciences.
View Article and Find Full Text PDFNew user authentication method based on eye-writing patterns identified from electrooculography for virtual reality applications.
Biomed Eng Lett
January 2025
Department of Electronic Engineering, Hanyang University, Seoul, 04763 Republic of Korea.
Demand for user authentication in virtual reality (VR) applications is increasing such as in-app payments, password manager, and access to private data. Traditionally, hand controllers have been widely used for the user authentication in VR environment, with which the users can typewrite a password or draw a pre-registered pattern; however, the conventional approaches are generally inconvenient and time-consuming. In this study, we proposed a new user authentication method based on eye-writing patterns identified using electrooculogram (EOG) recorded from four locations around the eyes in contact with the face-pad of a VR headset.
View Article and Find Full Text PDFClinical Efficacy of Ultrafast Dynamic Contrast-Enhanced MRI Using Compressed Sensing in Distinguishing Benign and Malignant Soft-Tissue Tumors.
Korean J Radiol
January 2025
Research Scientist, AIRS Medical Inc., Seoul, Republic of Korea.
Objective: To evaluate the clinical efficacy of ultrafast dynamic contrast-enhanced (DCE)-MRI using a compressed sensing (CS) technique for differentiating benign and malignant soft-tissue tumors (STTs) and to evaluate the factors related to the grading of malignant STTs.
Materials And Methods: A total of 165 patients (96 male; mean age, 61 years), comprising 111 with malignant STTs and 54 with benign STTs according to the 2020 WHO classification, underwent DCE-MRI with CS between June 2018 and June 2023. The clinical, qualitative, and quantitative parameters associated with conventional MRI were also obtained.
A novel technique of blindly positioning bronchial blockers for one-lung ventilation: a prospective, randomized, crossover study.
J Cardiothorac Surg
January 2025
Department of Anesthesiology and Pain Medicine, Seoul National University Hospital, Seoul National University College of Medicine, 101 Daehak-ro, Jongno-gu, Seoul, 03080, Republic of Korea.
Background: Several methods for blindly positioning bronchial blockers (BBs) for one-lung ventilation (OLV) have been proposed. However, these methods do not reliably ensure accurate positioning and proper direction. Here, we developed a clinically applicable two-stage maneuver by modifying a previously reported one-stage maneuver for successful insertion of a BB at the appropriate depth and direction in patients requiring lung isolation where a flexible bronchoscope (FOB) is not applicable.
View Article and Find Full Text PDFWant AI Summaries of new PubMed Abstracts delivered to your In-box?
Enter search terms and have AI summaries delivered each week - change queries or unsubscribe any time!