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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Bachmann, E.R. Xiaoping Yun McGhee, R.B. |
| Copyright Year | 2003 |
| Description | Author affiliation: MOVES Inst., Naval Postgraduate Sch., Monterey, CA, USA (Bachmann, E.R.; Xiaoping Yun; McGhee, R.B.) |
| Abstract | Human body posture can be tracked in real-time using small inexpensive inertial/magnetic sensor modules to measure the orientation of individual limb segments. To perform this task inertial/magnetic sensors generally contain: three orthogonally mounted angular rate sensors, three orthogonally mounted accelerometers, and three orthogonally mounted magnetometers. These sensors must be small and light enough to be securely attached to major limb segments and avoid user encumbrance. Sensor data must be processed by an efficient filtering algorithm that is able to produce accurate orientation estimates without singularities in all attitudes and does not require still periods to correct for drift. This paper discusses the design of a sourceless body tracking system with an emphasis on sensor and efficient filter design. Various methods for mitigating small transient orientation errors due to variability in the direction of the local magnetic field vector are also described. |
| Sponsorship | IEEE Robotics & Automation Soc |
| Starting Page | 822 |
| Ending Page | 829 |
| File Size | 532875 |
| Page Count | 8 |
| File Format | |
| ISBN | 0780378660 |
| DOI | 10.1109/CIRA.2003.1222286 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2003-07-16 |
| Publisher Place | Japan |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Humans Magnetic sensors Sensor systems Tracking Magnetic separation Accelerometers Magnetometers Optical sensors Magnetic field measurement Filters |
| Content Type | Text |
| Resource Type | Article |
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