arXiv subjects

Jussi Collin

Publications and source records attributed to Jussi Collin.

2 recordsLinked to original sources

arXiv2019

Surface Type Classification for Autonomous Robot Indoor Navigation

In this work we describe the preparation of a time series dataset of inertial measurements for determining the surface type under a wheeled robot. The data consists of over 7600 labeled time series samples, with the corresponding surface type annotation. This data was used in two public competitions with over 1500 participant in total. Additionally, we describe the performance of state-of-art deep learning models for time series classification, as well as propose a baseline model based on an ensemble of machine learning methods. The baseline achieves an accuracy of over 68% with our nine-category dataset.

cs.LG↗

arXiv2014

Effect of Carouseling on Angular Rate Sensor Error Processes

Carouseling is an efficient method to mitigate the measurement errors of inertial sensors, particularly MEMS gyroscopes. In this article, the effect of carouseling on the most significant stochastic error processes of a MEMS gyroscope, i.e., additive bias, white noise, 1/f noise, and rate random walk, is investigated. Variance propagation equations for these processes under averaging and carouseling are defined. Furthermore, a novel approach to generating 1/f noise is presented. The experimental results show that carouseling reduces the contributions of additive bias, 1/f noise, and rate random walk significantly in comparison with plain averaging, which can be utilized to improve the accuracy of dead reckoning systems.

cs.OH↗