Augmenting Inertial Motion Capture with SLAM Using EKF and SRUKF Data Fusion Algorithms

02/16/2023
by   Mohammad Mahdi Azarbeik, et al.
0

Inertial motion capture systems widely use low-cost IMUs to obtain the orientation of human body segments, but these sensors alone are unable to estimate link positions. Therefore, this research used a SLAM method in conjunction with inertial data fusion to estimate link positions. SLAM is a method that tracks a target in a reconstructed map of the environment using a camera. This paper proposes quaternion-based extended and square-root unscented Kalman filters (EKF SRUKF) algorithms for pose estimation. The Kalman filters use measurements based on SLAM position data, multi-link biomechanical constraints, and vertical referencing to correct errors. In addition to the sensor biases, the fusion algorithm is capable of estimating link geometries, allowing the imposing of biomechanical constraints without a priori knowledge of sensor positions. An optical tracking system is used as a reference of ground-truth to experimentally evaluate the performance of the proposed algorithm in various scenarios of human arm movements. The proposed algorithms achieve up to 5.87 (cm) and 1.1 (deg) accuracy in position and attitude estimation. Compared to the EKF, the SRUKF algorithm presents a smoother and higher convergence rate but is 2.4 times more computationally demanding. After convergence, the SRUKF is up to 17 position and attitude estimation, respectively. Using an absolute position measurement method instead of SLAM produced 80 and 60 estimation, respectively.

READ FULL TEXT

page 1

page 2

page 6

research
11/01/2020

Human Leg Motion Tracking by Fusing IMUs and RGB Camera Data Using Extended Kalman Filter

Human motion capture is frequently used to study rehabilitation and clin...
research
07/22/2022

Dense RGB-D-Inertial SLAM with Map Deformations

While dense visual SLAM methods are capable of estimating dense reconstr...
research
02/12/2022

Complete Inertial Pose Dataset: from raw measurements to pose with low-cost and high-end MARG sensors

The use of wearable technology for posture monitoring has been expanding...
research
12/09/2015

Sensor Fusion of Camera, GPS and IMU using Fuzzy Adaptive Multiple Motion Models

A tracking system that will be used for Augmented Reality (AR) applicati...
research
09/21/2023

Estimation of the angular position of a two-wheeled balancing robot using a real IMU with selected filters

A low-cost measurement system using filtering of measurements for two-wh...
research
10/14/2022

Multi-Head Cross-Attentional PPG and Motion Signal Fusion for Heart Rate Estimation

Nowadays, Hearth Rate (HR) monitoring is a key feature of almost all wri...

Please sign up or login with your details

Forgot password? Click here to reset