中国科学院深圳先进技术研究院机构知识库(SIAT OpenIR): Upper limb motion tracking with the integration of IMU and Kinect
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Upper limb motion tracking with the integration of IMU and Kinect
Tian Yushuang; Meng Xiaoli; Tao Dapeng; Liu Dongquan; Feng Chen
2015
Source PublicationNEUROCOMPUTING
Subtype期刊论文
AbstractUpper limb motion tracking attracts attentions from both academia and industry due to its value in a wide range of applications. Although existing optical-based tracking techniques can provide accurate tracking results, the product cost and complexity keep them away from most daily life applications. Recently, low-cost inertial measurement unit (IMU) and Kinect techniques provide a feasible/economical solution for such trajectory tracking problems while either of them still has its own limitations. In this paper, we investigated how to fuse data from internal sensors of IMU, and fuse IMU data with Kinect in order to provide robust hand position information compensated for the limitations of those sensors. The calculation of position is sequentially achieved by three fusion strategies: double integration of IMU internal sensors, IMU internal sensor fusion with geometrical constraints and unscented Kalman filter (UKF) based fusion of IMU and Kinect. Experimental results show that the first two approaches suffer from drifting effects, while the proposed IMU and Kinect fusion method can provide drift-free and smooth results. Comparing with using Kinect alone, this approach is able to achieve better results in terms of both accuracy as well as robustness. (C) 2015 Elsevier B.V. All rights reserved.
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Indexed BySCI
Language英语
Department人机控制研究室
Document Type期刊论文
Identifierhttp://ir.siat.ac.cn/handle/172644/6687
Collection集成所
AffiliationNEUROCOMPUTING
Recommended Citation
GB/T 7714
Tian Yushuang,Meng Xiaoli,Tao Dapeng,et al. Upper limb motion tracking with the integration of IMU and Kinect[J]. NEUROCOMPUTING,2015.
APA Tian Yushuang,Meng Xiaoli,Tao Dapeng,Liu Dongquan,&Feng Chen.(2015).Upper limb motion tracking with the integration of IMU and Kinect.NEUROCOMPUTING.
MLA Tian Yushuang,et al."Upper limb motion tracking with the integration of IMU and Kinect".NEUROCOMPUTING (2015).
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