Inertial Measurement Unit to Segment Calibration Based on Physically Constrained Pose Generation
The accuracy of a motion capture (MoCap) system based on inertial measurement units (IMUs) depends on the IMU-to-segment (I2S) calibration, in which the IMU alignment relative to a body segment is calculated using a reference pose such as a standing T-pose. This study proposes a novel I2S calibratio...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Taylor & Francis Group
2020-05-01
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| Series: | SICE Journal of Control, Measurement, and System Integration |
| Subjects: | |
| Online Access: | http://dx.doi.org/10.9746/jcmsi.13.122 |
| _version_ | 1827794799541878784 |
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| author | Tsubasa Maruyama Haruki Toda Wataru Ishii Mitsunori Tada |
| author_facet | Tsubasa Maruyama Haruki Toda Wataru Ishii Mitsunori Tada |
| author_sort | Tsubasa Maruyama |
| collection | DOAJ |
| description | The accuracy of a motion capture (MoCap) system based on inertial measurement units (IMUs) depends on the IMU-to-segment (I2S) calibration, in which the IMU alignment relative to a body segment is calculated using a reference pose such as a standing T-pose. This study proposes a novel I2S calibration system for a reliable MoCap system. In this system, the reference pose for calibration is constrained by physical objects, and this pose is generated by an optimization-based method which incorporates the IMU measurements with the physical constraints between the body and the object. To demonstrate the system, we estimated the chair-sitting and half-squat motions based on the calibration using a chair and estimated the center-of-mass movements of a rider when riding a motorcycle based on the calibration using a motorcycle. The experiments confirmed the improvements of the motion estimation accuracy by the proposed system, in both chair-sitting and half-squat motion and center-of-mass tracking of a rider. Furthermore, the proposed system enables the I2S calibration using product-use poses. |
| first_indexed | 2024-03-11T18:39:01Z |
| format | Article |
| id | doaj.art-a064ebf4834f409bac4d3f83a6e3035b |
| institution | Directory Open Access Journal |
| issn | 1884-9970 |
| language | English |
| last_indexed | 2024-03-11T18:39:01Z |
| publishDate | 2020-05-01 |
| publisher | Taylor & Francis Group |
| record_format | Article |
| series | SICE Journal of Control, Measurement, and System Integration |
| spelling | doaj.art-a064ebf4834f409bac4d3f83a6e3035b2023-10-12T13:43:55ZengTaylor & Francis GroupSICE Journal of Control, Measurement, and System Integration1884-99702020-05-0113312213010.9746/jcmsi.13.12212103294Inertial Measurement Unit to Segment Calibration Based on Physically Constrained Pose GenerationTsubasa Maruyama0Haruki Toda1Wataru Ishii2Mitsunori Tada3Human Augmentation Research Center, National Institute of Advanced Industrial Science and Technology (AIST)Artificial Intelligence Research Center, AISTRobotics Applied Research Group, Advanced Technology Research Division, Research & Development Section, Advanced Technology Center, Yamaha Motor Co., Ltd., Fukuroi Engineering CenterArtificial Intelligence Research Center, AISTThe accuracy of a motion capture (MoCap) system based on inertial measurement units (IMUs) depends on the IMU-to-segment (I2S) calibration, in which the IMU alignment relative to a body segment is calculated using a reference pose such as a standing T-pose. This study proposes a novel I2S calibration system for a reliable MoCap system. In this system, the reference pose for calibration is constrained by physical objects, and this pose is generated by an optimization-based method which incorporates the IMU measurements with the physical constraints between the body and the object. To demonstrate the system, we estimated the chair-sitting and half-squat motions based on the calibration using a chair and estimated the center-of-mass movements of a rider when riding a motorcycle based on the calibration using a motorcycle. The experiments confirmed the improvements of the motion estimation accuracy by the proposed system, in both chair-sitting and half-squat motion and center-of-mass tracking of a rider. Furthermore, the proposed system enables the I2S calibration using product-use poses.http://dx.doi.org/10.9746/jcmsi.13.122inertial measurement unitcalibrationmotion capturedigital humanmotorcycle |
| spellingShingle | Tsubasa Maruyama Haruki Toda Wataru Ishii Mitsunori Tada Inertial Measurement Unit to Segment Calibration Based on Physically Constrained Pose Generation SICE Journal of Control, Measurement, and System Integration inertial measurement unit calibration motion capture digital human motorcycle |
| title | Inertial Measurement Unit to Segment Calibration Based on Physically Constrained Pose Generation |
| title_full | Inertial Measurement Unit to Segment Calibration Based on Physically Constrained Pose Generation |
| title_fullStr | Inertial Measurement Unit to Segment Calibration Based on Physically Constrained Pose Generation |
| title_full_unstemmed | Inertial Measurement Unit to Segment Calibration Based on Physically Constrained Pose Generation |
| title_short | Inertial Measurement Unit to Segment Calibration Based on Physically Constrained Pose Generation |
| title_sort | inertial measurement unit to segment calibration based on physically constrained pose generation |
| topic | inertial measurement unit calibration motion capture digital human motorcycle |
| url | http://dx.doi.org/10.9746/jcmsi.13.122 |
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