Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

Methods of Obtaining Topography01:25

Methods of Obtaining Topography

216
Topography involves measuring and mapping land elevations, natural features, and artificial structures to create accurate representations of the terrain. Topographic surveying relies on traditional and modern methods, each with distinct advantages and limitations.Traditional Surveying Methods:Transit stadia surveys and plane table surveys were widely used traditional surveying methods. These techniques relied on instruments like theodolites and stadia rods for measuring distances and angles,...
216
Elevation of Intermediate Points on Vertical Curves01:20

Elevation of Intermediate Points on Vertical Curves

210
Vertical curves are essential in roadway design because they provide smooth transitions between varying roadway grades. Designing vertical curves involves calculating intermediate elevations and identifying the curve's highest or lowest point, which is essential for optimal roadway performance.Intermediate elevations on a vertical curve are determined using the tangent offset method. This method considers the initial elevation at the start of the curve, the grades, and the curve's geometry. The...
210
Design Example: Analyzing Capacity Contours for Flood Risk Assessment01:17

Design Example: Analyzing Capacity Contours for Flood Risk Assessment

236
Flood risk assessment involves careful planning and analysis to ensure the safety of communities near water retention structures. Capacity contours are a vital tool in this process, as they illustrate the potential spread of water at specific levels in a given area. In the context of building a bund across a small valley, these contours play a critical role in evaluating the safety of nearby residential areas.In this example, the bund is intended to store stormwater in the valley. The engineers...
236
Profile Leveling and Cross Sections01:26

Profile Leveling and Cross Sections

1.4K
Profile leveling and cross-sections are surveying methods used to determine and document terrain elevations for infrastructure projects such as highways, railroads, canals, and pipelines. These methods provide data for earthwork planning and alignment of proposed routes.  Profile leveling involves measuring elevations along a fixed line to create a vertical terrain profile. A surveyor sets up a leveling instrument at the benchmark (BM) and records a backsight (BS) to determine the...
1.4K
Plotting of Topographic Maps01:29

Plotting of Topographic Maps

366
Topographic maps represent the Earth's surface features using contour lines, which connect points of equal elevation to create a two-dimensional representation of three-dimensional terrain. Creating a topographic map requires a systematic approach.Begin by plotting a scaled grid and marking intersections corresponding to the survey's elevation data points. Assign elevation values at these intersections to build the base map. Next, determine contour levels using a consistent contour interval,...
366
Sight Distance in a Vertical Curve01:29

Sight Distance in a Vertical Curve

262
Sight distance on vertical curves is critical in roadway design. It ensures drivers can see far enough ahead to identify and respond to hazards effectively. This directly impacts safety, driver comfort, and the overall efficiency of the transportation network.Vertical curves are classified into crest and sag curves based on their geometry. For crest curves, sight distance is determined by the line of sight between a driver's eye and a small object on the road's surface. Design parameters for...
262

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Recurrent multi-view 6DoF pose estimation for marker-less surgical tool tracking.

International journal of computer assisted radiology and surgery·2025
Same author

Enhancing Slip, Trip, and Fall Prevention: Real-World Near-Fall Detection with Advanced Machine Learning Technique.

Sensors (Basel, Switzerland)·2025
Same author

Acquisition of Data on Kinematic Responses to Unpredictable Gait Perturbations: Collection and Quality Assurance of Data for Use in Machine Learning Algorithms for (Near-)Fall Detection.

Sensors (Basel, Switzerland)·2024
Same author

Transparency-Aware Segmentation of Glass Objects to Train RGB-Based Pose Estimators.

Sensors (Basel, Switzerland)·2024
Same author

The Interacting Multiple Model Filter and Smoother on Boxplus-Manifolds.

Sensors (Basel, Switzerland)·2021

Related Experiment Video

Updated: Dec 23, 2025

Trajectory Data Analyses for Pedestrian Space-time Activity Study
16:14

Trajectory Data Analyses for Pedestrian Space-time Activity Study

Published on: February 25, 2013

14.0K

State Observability through Prior Knowledge: Analysis of the Height Map Prior for Track Cycling.

Tom L Koller1, Udo Frese1

  • 1Multi-Sensor Interactive Systems Group, University of Bremen, 28359 Bremen, Germany.

Sensors (Basel, Switzerland)
|April 30, 2020
PubMed
Summary
This summary is machine-generated.

Inertial navigation systems can achieve drift-free position and orientation tracking by using prior knowledge of movement. This study demonstrates full observability in inertial navigation systems, particularly for track cycling.

Keywords:
C = context knowledgeIMUINSobservability analysispose estimationprior knowledgetrackingvehicle constraint

More Related Videos

An Inertial Measurement Unit Based Method to Estimate Hip and Knee Joint Kinematics in Team Sport Athletes on the Field
06:52

An Inertial Measurement Unit Based Method to Estimate Hip and Knee Joint Kinematics in Team Sport Athletes on the Field

Published on: May 26, 2020

8.4K
Computerized Dynamic Posturography for Postural Control Assessment in Patients with Intermittent Claudication
14:52

Computerized Dynamic Posturography for Postural Control Assessment in Patients with Intermittent Claudication

Published on: December 11, 2013

11.9K

Related Experiment Videos

Last Updated: Dec 23, 2025

Trajectory Data Analyses for Pedestrian Space-time Activity Study
16:14

Trajectory Data Analyses for Pedestrian Space-time Activity Study

Published on: February 25, 2013

14.0K
An Inertial Measurement Unit Based Method to Estimate Hip and Knee Joint Kinematics in Team Sport Athletes on the Field
06:52

An Inertial Measurement Unit Based Method to Estimate Hip and Knee Joint Kinematics in Team Sport Athletes on the Field

Published on: May 26, 2020

8.4K
Computerized Dynamic Posturography for Postural Control Assessment in Patients with Intermittent Claudication
14:52

Computerized Dynamic Posturography for Postural Control Assessment in Patients with Intermittent Claudication

Published on: December 11, 2013

11.9K

Area of Science:

  • Robotics
  • Navigation Systems
  • Sensor Fusion

Background:

  • Inertial navigation systems (INS) inherently suffer from unbounded drift in position and orientation estimation.
  • Exteroceptive sensors are typically used to correct INS drift, but this study explores using prior knowledge instead.
  • Previous work demonstrated drift-free tracking of track cyclists using an Inertial Measurement Unit (IMU) and track knowledge.

Purpose of the Study:

  • To demonstrate that incorporating prior knowledge into INS can achieve full observability of position and orientation.
  • To analyze the observability of pose estimation in a conducted experiment.
  • To improve upon existing pose estimation methods for track-based navigation.

Main Methods:

  • The study analyzes observability using the weak observability criterion and a Jacobian rank test.
  • An improved pose estimation algorithm is developed and presented.
  • The enhanced estimator was evaluated on a dataset comprising three 60-round trials.

Main Results:

  • The improved pose estimation achieved an average Root Mean Square (RMS) error of 1.08 meters.
  • The estimation demonstrated drift-free performance throughout the trials.
  • Observability analysis confirmed complete pose observability in curves and orientation observability on straight sections.

Conclusions:

  • Prior knowledge integration enables full observability in INS, correcting inherent drift.
  • The developed improved estimator provides accurate and drift-free pose estimation for track-based navigation.
  • The system achieves complete observability in dynamic maneuvers (curves) and partial observability on linear segments.