- 59
- 18 996
Interactive Sensing and Computing Lab
United States
Приєднався 24 лют 2020
Interactive Sensing and Computing Lab at the University of Michigan
Polaris: Accurate, Vision-free Fiducials for Mobile Robots with Magnetic Constellation
Title:
Polaris: Accurate, Vision-free Fiducials for Mobile Robots with Magnetic Constellation
Abstract:
Fiducial marking is indispensable in mobile robots, including their pose calibration, contextual perception, and navigation. However, existing fiducial markers rely solely on vision-based perception which suffers such limitations as occlusion, energy overhead, and privacy leakage. We present Polaris, the first vision-free fiducial marking system, based on a novel, full-stack magnetic sensing design. Polaris can achieve reliable and accurate pose estimation and contextual perception, even in NLOS scenarios. Its core design includes: (1) a novel digital modulation scheme, Magnetic Orientation-shift Keying (MOSK) that can encode key information like waypoints and coordinates with passive magnets; (2) a robust and lightweight magnetic sensing framework to decode and localize the magnetic tags. Our design also equips Polaris with three key features: sufficient encoding capacity, robust detection accuracy, and low energy consumption. We have built an end-to-end system of Polaris and tested it extensively in real-world scenarios. The testing results have shown Polaris to achieve an accuracy of up to 0.58 mm and 1° in posture estimation with a power consumption of only 25.08 mW.
Citation:
Jike Wang, Yasha Iravantchi, Alanson Sample, Kang G. Shin, Xinbing Wang, and Dongyao Chen. 2024. Polaris: Accurate, Vision-free Fiducials for Mobile Robots with Magnetic Constellation. In Proceedings of the 30th Annual International Conference on Mobile Computing and Networking (ACM MobiCom '24). Association for Computing Machinery, New York, NY, USA, 1560-1574. doi.org/10.1145/3636534.3690711
Polaris: Accurate, Vision-free Fiducials for Mobile Robots with Magnetic Constellation
Abstract:
Fiducial marking is indispensable in mobile robots, including their pose calibration, contextual perception, and navigation. However, existing fiducial markers rely solely on vision-based perception which suffers such limitations as occlusion, energy overhead, and privacy leakage. We present Polaris, the first vision-free fiducial marking system, based on a novel, full-stack magnetic sensing design. Polaris can achieve reliable and accurate pose estimation and contextual perception, even in NLOS scenarios. Its core design includes: (1) a novel digital modulation scheme, Magnetic Orientation-shift Keying (MOSK) that can encode key information like waypoints and coordinates with passive magnets; (2) a robust and lightweight magnetic sensing framework to decode and localize the magnetic tags. Our design also equips Polaris with three key features: sufficient encoding capacity, robust detection accuracy, and low energy consumption. We have built an end-to-end system of Polaris and tested it extensively in real-world scenarios. The testing results have shown Polaris to achieve an accuracy of up to 0.58 mm and 1° in posture estimation with a power consumption of only 25.08 mW.
Citation:
Jike Wang, Yasha Iravantchi, Alanson Sample, Kang G. Shin, Xinbing Wang, and Dongyao Chen. 2024. Polaris: Accurate, Vision-free Fiducials for Mobile Robots with Magnetic Constellation. In Proceedings of the 30th Annual International Conference on Mobile Computing and Networking (ACM MobiCom '24). Association for Computing Machinery, New York, NY, USA, 1560-1574. doi.org/10.1145/3636534.3690711
Переглядів: 16
Відео
MagDesk: Interactive Tabletop Workspace based on Passive Magnetic Tracking
Переглядів 252Місяць тому
Title: MagDesk: Interactive Tabletop Workspace based on Passive Magnetic Tracking Abstract: Accurate and responsive 3D tracking enables interactive and context-aware workspaces, including mixed reality 3D interfaces and collaborative tangible interactions. However, limitations of current tracking mechanisms - line-of-sight occlusion, drifting errors, small working volumes, or instrumentation th...
EECS 373 - Fall 2024 - Lecture 16: "Exam 2 Review"
Переглядів 3482 місяці тому
Lecture Recording for EECS 373: Introduction to Embedded System Design Fall 2024 Outline: - Exam Logistics - Interrupts - Timers - Serial Communication - Analog to Digital Converters and Digital to Analog Converters
EECS 373 - Fall 2024 - Lecture 15: "DACs continued"
Переглядів 1772 місяці тому
Lecture Recording for EECS 373: Introduction to Embedded System Design Fall 2024 Outline: DAC - Digital to Analog Converters Website: www.eecs.umich.edu/courses/eecs373/
EECS 373 - Fall 2024 - Lecture 14: “ADCs” & "DACs"
Переглядів 1992 місяці тому
Lecture Recording for EECS 373: Introduction to Embedded System Design Fall 2024 Outline: ADC - Analog to Digital Converters DAC - Digital to Analog Converters Website: www.eecs.umich.edu/courses/eecs373/
EECS 373 - Fall 2024 - Lecture 13: “Overview Analog Signals"
Переглядів 2292 місяці тому
Lecture Recording for EECS 373: Introduction to Embedded System Design Outline: Review of Serial Bussess and 1-Wire Bus exercise Overview: Analog Signals - Sampling Signals - Data Conversion - A little research!
EECS 373 - Fall 2024 - Lecture 12.3: "Serial Bus - SPI & I2C"
Переглядів 3662 місяці тому
Lecture Recording for EECS 373: Introduction to Embedded System Design Fall 2024 Lecture 12: "Serial Bus - SPI & I2C" Outline - Serial Bus SPI (Serial Peripheral Interface) - Serial Bus I2C (Inter-Integrated Circuit) Class Website: www.eecs.umich.edu/eecs/courses/eecs373/
EECS 373 - Fall 2024 - Lecture 11: "Serial Bus Over & UART"
Переглядів 3292 місяці тому
EECS 373 - Fall 2024 - Lecture 11: "Serial Bus Over & UART" Outline: - Serial Bus Overview - UART (Universal Asynchronous Receiver / Transmitter)
EECS 373 - Fall 2024 - Lecture 10: "Timers: PWM Generation & Virtual Timers"
Переглядів 1752 місяці тому
Lecture Recording for EECS 373: Introduction to Embedded System Design Fall 2025 Fall 2025 - Lecture 10: "Timers: PWM Generation & Virtual Timers" - Finish General Timers - PWM Generation - Virtual Timers
EECS 373 - Fall 2024 - Lecture 9 "NVIC Example & Timers"
Переглядів 2133 місяці тому
Lecture Recording for EECS 373: Introduction to Embedded System Design Fall 2024 Fall 2024 - Lecture 9 "NVIC Example & Timers" - NVIC Example - Timers
EECS 373 - Fall 2024 - Lecture 8 "NVIC"
Переглядів 1743 місяці тому
Lecture Recording for EECS 373: Introduction to Embedded System Design Fall 2024 Fall 2024 - Lecture 8 "NVIC" - Interrupt Flow Control - Interrupt Prioirites - Concurrent Interrupts
EECS 373 - Fall 2024 - Lecture 7: “Midterm 1 Review"
Переглядів 1453 місяці тому
Lecture Recording for EECS 373: Introduction to Embedded System Design Fall 2024 Fall 2024 - Lecture 7: “Midterm 1 Review" Outline - Exam Logistics - Quick review of course content
EECS 373 - Fall 2024 - Lecture 6: “Interrupts”
Переглядів 2223 місяці тому
Lecture Recording for EECS 373: Introduction to Embedded System Design Fall 2024 Lecture 6: “Interrupts” Outline - Interrupts - Polling vs Interrupts - Vector Tables - Stack & Unstacking - Example
EECS 373 - Fall 2024 - Lecture 5: “GPIO & MMIO”
Переглядів 2983 місяці тому
Lecture Recording for EECS 373: Introduction to Embedded System Design Fall 2024 Lecture 5: “GPIO & MMIO” Outline - Anatomy of a GPIO pin - Basic idea of Memory Mapped I/O (MMIO) - Methods for Driving Pins - APB GPIO Example
EECS 373 - Fall 2024 - Lecture 4: “Memory Mapped IO / APB Bus”
Переглядів 3693 місяці тому
Lecture Recording for EECS 373: Introduction to Embedded System Design Fall 2024 Lecture 4: “Memory Mapped IO / APB Bus” Outline: - Memory Mapped I/O (MMIO) - Bus Architectures - ARM Advanced Peripheral Bus (APB)
EECS 373 - Fall 2024 - Lecture 2: “Instruction Set Architecture (ISA)”
Переглядів 6364 місяці тому
EECS 373 - Fall 2024 - Lecture 2: “Instruction Set Architecture (ISA)”
PrivacyLens: On-Device PII Removal from RGB Images using Thermally-Enhanced Sensing
Переглядів 1455 місяців тому
PrivacyLens: On-Device PII Removal from RGB Images using Thermally-Enhanced Sensing
Talk - PrivacyLens: On-Device PII Removal from RGB Images using Thermally-Enhanced Sensing
Переглядів 345 місяців тому
Talk - PrivacyLens: On-Device PII Removal from RGB Images using Thermally-Enhanced Sensing
Talk - BrushLens: Hardware Interaction Proxies for Accessible Touchscreen Interface Actuation
Переглядів 3111 місяців тому
Talk - BrushLens: Hardware Interaction Proxies for Accessible Touchscreen Interface Actuation
Talk - Single Packet, Single Channel, Switched Antenna Array for RF Localization
Переглядів 11711 місяців тому
Talk - Single Packet, Single Channel, Switched Antenna Array for RF Localization
EECS 373 - Fall 2023 - Lecture 14: "Exam 2 Review"
Переглядів 169Рік тому
EECS 373 - Fall 2023 - Lecture 14: "Exam 2 Review"
EECS 373 - Fall 2023 - Lecture 13: “ADCs” & "DACs"
Переглядів 165Рік тому
EECS 373 - Fall 2023 - Lecture 13: “ADCs” & "DACs"
EECS 373 - Fall 2023 - Lecture 13: “Overview Analog Signals” & "ADCs"
Переглядів 166Рік тому
EECS 373 - Fall 2023 - Lecture 13: “Overview Analog Signals” & "ADCs"
EECS 373 - Fall 2023 - Lecture 12.3: "Serial Bus - SPI"
Переглядів 191Рік тому
EECS 373 - Fall 2023 - Lecture 12.3: "Serial Bus - SPI"
EECS 373 - Fall 2023 - Lecture 12.1: "Serial Bus - UART"
Переглядів 286Рік тому
EECS 373 - Fall 2023 - Lecture 12.1: "Serial Bus - UART"
EECS 373 - Fall 2023 - Lecture 12.2: "Serial Bus - I2C"
Переглядів 219Рік тому
EECS 373 - Fall 2023 - Lecture 12.2: "Serial Bus - I2C"
EECS 373 - Fall 2023 - Lecture 11: "Virtual Timers and Intro to Busses"
Переглядів 212Рік тому
EECS 373 - Fall 2023 - Lecture 11: "Virtual Timers and Intro to Busses"
EECS 373 - Fall 2023 - Lecture 10: "Timers & SysTick”
Переглядів 193Рік тому
EECS 373 - Fall 2023 - Lecture 10: "Timers & SysTick”
I wish the lab assignments were made available to the general public to try at home.
Looks VERY interesting! I'd like to know more... But the link to the website resulted in a "404" error: NOT FOUND! Please fix! (Thank you!) 👍👍👍👍👍
updated! Here you go: theisclab.com/projects/MagDesk/MagDesk.html
Hello. Great lecture. Can you recommend a handbook for this course? Thank You.
It was mentioned in the lecture. The book by Dr, Yifeng Zhu.
Best Video Ever. I have been researching this and imagining but here we are.....😊😮😮😅🎉🎉🎉
❤❤❤😊😊🎉❤❤❤
Sorry to bother you. I want to know if I could get the slides of this course(2023) not 2024?
Why's this guy talking so fast ?? ....To discourage & drop all except the "Superhuman" ??
21:00 "bunch a white guys in the 80s" this garbage DEI crap is even in a computer course. Very inappropriate. Bus master, bus slave. Say it. Otherwise "target" is offensive it's a military term. And one bus node controlling another bus node is offensive, because the concept of control is offensive. If you don't stop this DEI garbage here, it will never end.
I would love to see more about the controler itself, I already know how it works, but I don't know how is the architecture os the NVIC made. And how does the NVIC does the stacking, how does the main core, lets say Cortex M0, know when to stop because there is going to be a stackig state and a new address is arriving into the program counter
Seriously? Absolutely nothing new here, yeah a different action creates a different sound signature.. that u pickup with a mems mic, piezo transducer.. then correlate it to a set of expected waveforms using DSP... tech from maybe the 80s. But yeah, have a brute force "AI" neural net to do the correlation for you so u can give it a new name and pretend it's "new"...
Hi Greg, One of the big differences is that the VPU has higher bandwidth than previous sensing mechanisms (including piezo and accelerometers) with excellent in air noise rejection (as compared to traditional microphones). Please see the paper where we directly compare the VPU to these other sensing modalities to learn what makes SAWSense different! theisclab.com/projects/SAW-Sense/SAW-Sense.html
Does this SAW technology use the ELO Touch Solutions patents?
For inquiries on patents, please contact the University of Michigan Office of Innovation Partnerships innovationpartnerships.umich.edu/