Subtractive clustering Takagi-Sugeno position tracking for humans by low-cost inertial sensors and velocity classification
In this work, open-loop position tracking using low-cost inertial measurement units is aided by Takagi-Sugeno velocity classification using the subtractive clustering algorithm to help generate the fuzzy rule base. Using the grid search approach, a suitable window of classified velocity vectors was...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2023-11-01
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| Series: | Measurement + Control |
| Online Access: | https://doi.org/10.1177/00202940231155496 |
| _version_ | 1797631104680722432 |
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| author | Dariusz Maton John Theodoros Economou David Galvão Wall David Ward Simon Trythall |
| author_facet | Dariusz Maton John Theodoros Economou David Galvão Wall David Ward Simon Trythall |
| author_sort | Dariusz Maton |
| collection | DOAJ |
| description | In this work, open-loop position tracking using low-cost inertial measurement units is aided by Takagi-Sugeno velocity classification using the subtractive clustering algorithm to help generate the fuzzy rule base. Using the grid search approach, a suitable window of classified velocity vectors was obtained and then integrated to generate trajectory segments. Using publicly available experimental data, the reconstruction accuracy of the method is compared against four competitive pedestrian tracking algorithms. The comparison on selected test data, has demonstrated more competitive relative and absolute trajectory error metrics. The proposed method in this paper is also verified on an independent experimental data set. Unlike the methods which use deep learning, the proposed method has shown to be transparent (fuzzy rule base). Lastly, a sensitivity analysis of the velocity classification models to perturbations from the training orientation at test time is investigated, to guide developers of such data-driven algorithms on the granularity required in an ensemble modeling approach. The accuracy and transparency of the approach may positively influence applications requiring low-cost inertial position tracking such as augmented reality headsets for emergency responders. |
| first_indexed | 2024-03-11T11:17:24Z |
| format | Article |
| id | doaj.art-55d4510704b1495d93404d06549b9f04 |
| institution | Directory Open Access Journal |
| issn | 0020-2940 |
| language | English |
| last_indexed | 2024-03-11T11:17:24Z |
| publishDate | 2023-11-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Measurement + Control |
| spelling | doaj.art-55d4510704b1495d93404d06549b9f042023-11-10T19:33:36ZengSAGE PublishingMeasurement + Control0020-29402023-11-015610.1177/00202940231155496Subtractive clustering Takagi-Sugeno position tracking for humans by low-cost inertial sensors and velocity classificationDariusz Maton0John Theodoros Economou1David Galvão Wall2David Ward3Simon Trythall4Centre for Defence Engineering, Cranfield University, Defence Academy of the United Kingdom, Shrivenham, Swindon, UKCentre for Defence Engineering, Cranfield University, Defence Academy of the United Kingdom, Shrivenham, Swindon, UKCentre for Defence Engineering, Cranfield University, Defence Academy of the United Kingdom, Shrivenham, Swindon, UKBAE Systems, Rochester, Kent, UKBAE Systems, Rochester, Kent, UKIn this work, open-loop position tracking using low-cost inertial measurement units is aided by Takagi-Sugeno velocity classification using the subtractive clustering algorithm to help generate the fuzzy rule base. Using the grid search approach, a suitable window of classified velocity vectors was obtained and then integrated to generate trajectory segments. Using publicly available experimental data, the reconstruction accuracy of the method is compared against four competitive pedestrian tracking algorithms. The comparison on selected test data, has demonstrated more competitive relative and absolute trajectory error metrics. The proposed method in this paper is also verified on an independent experimental data set. Unlike the methods which use deep learning, the proposed method has shown to be transparent (fuzzy rule base). Lastly, a sensitivity analysis of the velocity classification models to perturbations from the training orientation at test time is investigated, to guide developers of such data-driven algorithms on the granularity required in an ensemble modeling approach. The accuracy and transparency of the approach may positively influence applications requiring low-cost inertial position tracking such as augmented reality headsets for emergency responders.https://doi.org/10.1177/00202940231155496 |
| spellingShingle | Dariusz Maton John Theodoros Economou David Galvão Wall David Ward Simon Trythall Subtractive clustering Takagi-Sugeno position tracking for humans by low-cost inertial sensors and velocity classification Measurement + Control |
| title | Subtractive clustering Takagi-Sugeno position tracking for humans by low-cost inertial sensors and velocity classification |
| title_full | Subtractive clustering Takagi-Sugeno position tracking for humans by low-cost inertial sensors and velocity classification |
| title_fullStr | Subtractive clustering Takagi-Sugeno position tracking for humans by low-cost inertial sensors and velocity classification |
| title_full_unstemmed | Subtractive clustering Takagi-Sugeno position tracking for humans by low-cost inertial sensors and velocity classification |
| title_short | Subtractive clustering Takagi-Sugeno position tracking for humans by low-cost inertial sensors and velocity classification |
| title_sort | subtractive clustering takagi sugeno position tracking for humans by low cost inertial sensors and velocity classification |
| url | https://doi.org/10.1177/00202940231155496 |
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