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An optimization-based approach to human body motion capture using inertial sensors
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Xsens Technologies B.V..
Uppsala University.
2014 (English)In: Proceedings of the 19th IFAC World Congress, 2014 / [ed] Boje, Edward; Xia, Xiaohua, International Federation of Automatic Control , 2014, 79-85 p.Conference paper (Refereed)
Abstract [en]

In inertial human motion capture, a multitude of body segments are equipped with inertial measurement units, consisting of 3D accelerometers, 3D gyroscopes and 3D magnetometers. Relative position and orientation estimates can be obtained using the inertial data together with a biomechanical model. In this work we present an optimization-based solution to magnetometer-free inertial motion capture. It allows for natural inclusion of biomechanical constraints, for handling of nonlinearities and for using all data in obtaining an estimate. As a proof-of-concept we apply our algorithm to a lower body configuration, illustrating that the estimates are drift-free and match the joint angles from an optical reference system.

Place, publisher, year, edition, pages
International Federation of Automatic Control , 2014. 79-85 p.
, World Congress, ISSN 1474-6670 ; World Congress, Volume# 19 | Part# 1
Keyword [en]
Human body motion capture, optimization, maximum a posteriori estimation, inertial sensors, 6D pose estimation.
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-111543DOI: 10.3182/20140824-6-ZA-1003.02252ISBN: 978-3-902823-62-5OAI: diva2:757520
19th World Congress of the International Federation of Automatic Control (IFAC), Cape Town, South Africa, August 24-29, 2014
EU, FP7, Seventh Framework Programme, 1933031801Swedish Research Council, 1933011102
Available from: 2014-10-22 Created: 2014-10-22 Last updated: 2014-10-24Bibliographically approved

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