3-D localization of human based on an inertial capture system
This paper introduces a method to track the spatial location and movement of a human using wearable inertia sensors without additional external global positioning devices. Starting from the lower limb kinematics of a human, the method uses multiple wearable inertia sensors to determine the orientati...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2013
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| Online Access: | https://hdl.handle.net/10356/101463 http://hdl.handle.net/10220/16494 |
| _version_ | 1811678029938688000 |
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| author | Yuan, Qilong Chen, I-Ming |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Yuan, Qilong Chen, I-Ming |
| author_sort | Yuan, Qilong |
| collection | NTU |
| description | This paper introduces a method to track the spatial location and movement of a human using wearable inertia sensors without additional external global positioning devices. Starting from the lower limb kinematics of a human, the method uses multiple wearable inertia sensors to determine the orientation of the body segments and lower limb joint motions. At the same time, based on human kinematics and locomotion phase detection, the spatial position and the trajectory of a reference point on the body can be determined. An experimental study has shown that the position error can be controlled within 1-2% of the total distance in both indoor and outdoor environments. The system is capable of localization on irregular terrains (like uphill/downhill). From the localization results, the ground shape and the height information that can be recovered after localization experiments are conducted. A benchmark study on the accuracy of this method was carried out using the camera-based motion analysis system to study the validity of the system. The localization data that are obtained from the proposed method match well with those from the commercial system. Since the sensors can be worn on the human at any time and any place, this method has no restriction to indoor and outdoor applications. |
| first_indexed | 2024-10-01T02:46:46Z |
| format | Journal Article |
| id | ntu-10356/101463 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T02:46:46Z |
| publishDate | 2013 |
| record_format | dspace |
| spelling | ntu-10356/1014632020-03-07T13:22:19Z 3-D localization of human based on an inertial capture system Yuan, Qilong Chen, I-Ming School of Mechanical and Aerospace Engineering DRNTU::Engineering::Mechanical engineering::Robots This paper introduces a method to track the spatial location and movement of a human using wearable inertia sensors without additional external global positioning devices. Starting from the lower limb kinematics of a human, the method uses multiple wearable inertia sensors to determine the orientation of the body segments and lower limb joint motions. At the same time, based on human kinematics and locomotion phase detection, the spatial position and the trajectory of a reference point on the body can be determined. An experimental study has shown that the position error can be controlled within 1-2% of the total distance in both indoor and outdoor environments. The system is capable of localization on irregular terrains (like uphill/downhill). From the localization results, the ground shape and the height information that can be recovered after localization experiments are conducted. A benchmark study on the accuracy of this method was carried out using the camera-based motion analysis system to study the validity of the system. The localization data that are obtained from the proposed method match well with those from the commercial system. Since the sensors can be worn on the human at any time and any place, this method has no restriction to indoor and outdoor applications. 2013-10-14T08:54:59Z 2019-12-06T20:38:59Z 2013-10-14T08:54:59Z 2019-12-06T20:38:59Z 2013 2013 Journal Article Yuan, Q., & Chen, I. M. (2013). 3-D Localization of Human Based on an Inertial Capture System. IEEE Transactions on Robotics, 29(3), 806-812. 1552-3098 https://hdl.handle.net/10356/101463 http://hdl.handle.net/10220/16494 10.1109/TRO.2013.2248535 en IEEE transactions on robotics |
| spellingShingle | DRNTU::Engineering::Mechanical engineering::Robots Yuan, Qilong Chen, I-Ming 3-D localization of human based on an inertial capture system |
| title | 3-D localization of human based on an inertial capture system |
| title_full | 3-D localization of human based on an inertial capture system |
| title_fullStr | 3-D localization of human based on an inertial capture system |
| title_full_unstemmed | 3-D localization of human based on an inertial capture system |
| title_short | 3-D localization of human based on an inertial capture system |
| title_sort | 3 d localization of human based on an inertial capture system |
| topic | DRNTU::Engineering::Mechanical engineering::Robots |
| url | https://hdl.handle.net/10356/101463 http://hdl.handle.net/10220/16494 |
| work_keys_str_mv | AT yuanqilong 3dlocalizationofhumanbasedonaninertialcapturesystem AT cheniming 3dlocalizationofhumanbasedonaninertialcapturesystem |