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Human POSEitioning System (HPS): 3D Human Pose Estimation and Self-localization in Large Scenes from Body-Mounted Sensors
[article]
2021
arXiv
pre-print
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Using IMUs attached at the body limbs and a head mounted camera looking outwards, HPS fuses camera based self-localization with IMU-based human body tracking. ...
We introduce (HPS) Human POSEitioning System, a method to recover the full 3D pose of a human registered with a 3D scan of the surrounding environment using wearable sensors. ...
To scale to large scenes, we use a hierarchical structure-based localization algorithm [57, 58] (Fig. 3) . ...
arXiv:2103.17265v1
fatcat:niq57tnugbdvzox7lfa36eypmm
Cost-Effective Wearable Indoor Localization and Motion Analysis via the Integration of UWB and IMU
2020
Sensors
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This investigation aims to provide a cost-effective wearable sensing solution with data fusion algorithms for indoor localization and real-time motion analysis. ...
Wearable indoor localization can now find applications in a wide spectrum of fields, including the care of children and the elderly, sports motion analysis, rehabilitation medicine, robotics navigation ...
Yuan and Chen [42] presented a wearable human localization and motion tracking method using only three IMUs and obtained an accuracy of 0.1 m/s velocity tracking and 2% for localization. ...
doi:10.3390/s20020344
pmid:31936175
pmcid:PMC7013426
fatcat:cui4hahzx5fi3a6rkwfgafnkse
Measurement of foot placement and its variability with inertial sensors
2013
Gait & Posture
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We tested the method with healthy adults walking over-ground, averaging 93 steps per trial, using a mobile motion capture system to provide reference data. ...
The method uses ground contact conditions to correct for drift, and state estimation algorithms to improve estimation of angular orientation. ...
A combination of such drift correction methods can be used to localize the foot in the sagittal plane [21] or in space [22, 23, 24, 25] . ...
doi:10.1016/j.gaitpost.2013.05.012
pmid:23810335
pmcid:PMC4284057
fatcat:jhvcuoejovdafhcku76aruhmhy
HSC4D: Human-centered 4D Scene Capture in Large-scale Indoor-outdoor Space Using Wearable IMUs and LiDAR
[article]
2022
arXiv
pre-print
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Considering that IMUs can capture human poses but always drift for long-period use, while LiDAR is stable for global localization but rough for local positions and orientations, HSC4D makes both sensors ...
., we propose a dataset containing three large scenes (1k-5k m^2) with accurate dynamic human motions and locations. ...
HPS [9] uses a headmounted camera, which looks outwards like the human eyes, to complement IMUs in global localization. ...
arXiv:2203.09215v3
fatcat:r7pg4t4rt5ckhg73a5a4ztibxa
A Smart Shoe for building a real-time 3D map
2016
Automation in Construction
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We integrate this shoe with a novel foot localization algorithm that produces a smooth and accurate pose and trajectory of human walking, which is the key enabling technique to minimize data registration ...
While many highly effective techniques have been reported thus far, a few even turned into commercial products, none has explored the use of wearable sensors to capture human foot motion, gait, and phase ...
In order to deal with these challenges, we utilized the human foot motion gait to implement a human foot motion localization 45 algorithm for accurate and smooth foot motion position, and to swing laser ...
doi:10.1016/j.autcon.2016.03.001
fatcat:dkwppmlkqzb45eheg6o32whthe
Chest-mounted inertial measurement unit for pedestrian motion classification using continuous hidden Markov model
2012
2012 IEEE International Instrumentation and Measurement Technology Conference Proceedings
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This paper presents a method for pedestrian motion classification based on MEMS inertial measurement unit (IMU) mounted on the chest. ...
As the classification method, the continuous hidden Markov model (HMM) is used in which the output density functions are assumed to be Gaussian mixture models (GMMs). ...
In this paper, we look at the problem of human motion classification based on data provided by a Chem-IMU. ...
doi:10.1109/i2mtc.2012.6229380
fatcat:6h7uh3a6gfcgvazqgax5fcgz3i
Novel Multi-IMU Tight Coupling Pedestrian Localization Exploiting Biomechanical Motion Constraints
2020
Sensors
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To derive these constraints, we carry out a motion tracking experiment to collect both ground truth data and inertial measurements from IMUs mounted on the leg. ...
In this article, we present a novel tight coupling inertial localization system which simultaneously processes the measurements of two inertial measurement units (IMUs) mounted on the leg, namely the upper ...
Patents The work presented in this work is related to a patent which is being under consideration at the German Patent Office. The file number is 10 2017 124 173.6. ...
doi:10.3390/s20185364
pmid:32962170
pmcid:PMC7570877
fatcat:67v6ovy2jneqbo2w3n3rnz35oi
Motion Mode Recognition and Step Detection Algorithms for Mobile Phone Users
2013
Sensors
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Acknowledgments The financial support of Research In Motion (RIM), the Natural Science and Engineering Research Council of Canada, Alberta Advanced Education and Technology and Western Economic Diversification ...
The sensor on the user's foot was used as reference for assessing the performance of the proposed algorithms using handheld IMUs. ...
In addition, using a reference that is extracted from foot mounted IMU data, the performance of the step detection algorithm was also assessed. ...
doi:10.3390/s130201539
pmid:23348038
pmcid:PMC3649428
fatcat:sp3otl7fzre7xe2bj6ciyine24
Efficacy of Inertial Measurement Units in the Evaluation of Trunk and Hand Kinematics in Baseball Hitting
2020
Sensors
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Results obtained using the IMU and optical motion capture system (OMCS) were compared. Angular displacements of the trunk segments and spine joint had a root mean square error of <5°. ...
The current study aimed to investigate the validity and reliability of IMUs with a sampling rate of 1000 Hz attached on the pelvis, thorax, and hand in assessing trunk and hand motion during baseball hitting ...
The local coordinate system corresponded to that of the IMU. A reflective marker was attached on top of the IMU attached on the hand to assess hand motion. ...
doi:10.3390/s20247331
pmid:33419341
fatcat:zkq33ucporbplnuh6y6ecojc5y
Kinematics based sensory fusion for wearable motion assessment in human walking
2014
Computer Methods and Programs in Biomedicine
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This paper presents a novel sensory fusion algorithm for assessing the orientations of human body segments in long-term human walking based on signals from wearable sensors. ...
Extended Kalman filter Inertial measurement unit Measuring insoles Long-term walking a b s t r a c t Measuring the kinematic parameters in unconstrained human motion is becoming crucial for providing feedback ...
of human body and IMUs. ...
doi:10.1016/j.cmpb.2013.11.012
pmid:24374292
fatcat:j5tnbfscajb5xdpmfzmiztr7yq
Kinematic Model-Based Pedestrian Dead Reckoning for Heading Correction and Lower Body Motion Tracking
2015
Sensors
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The basic idea of the proposed algorithm is integrating the left and right foot positions obtained by ZUPTs with the heading and position information from an IMU mounted on the waist. ...
To integrate this information, a kinematic model of the lower human body, which is calculated by using orientation sensors mounted on both thighs and calves, is adopted. ...
Author Contributions Min Su Lee developed the main sensor fusion algorithm. Hojin Ju conducted the experiments. ...
doi:10.3390/s151128129
pmid:26561814
pmcid:PMC4701272
fatcat:2ogxpnclqzfixpc54bi6nbuwda
Simulation of foot-mounted IMU signals for the evaluation of PDR algorithms
2011
2011 International Conference on Indoor Positioning and Indoor Navigation
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We tested a PDR method based on an Inertial Navigation System (INS) using an Extended Kalman Filter (EKF) with a noiseless IMU signal. ...
The trajectory can be artificially generated or based on a real human walk pattern. ...
foot mounted IMU over time are defined in a local navigation frame (North, West, Up). ...
doi:10.1109/ipin.2011.6071930
dblp:conf/ipin/ZampellaJSPG11
fatcat:ersf6chpjra73bun6scigouqs4
Using Accelerometer Data to Tune the Parameters of an Extended Kalman Filter for Optical Motion Capture: Preliminary Application to Gait Analysis
2021
Sensors
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A preliminary test with inertial measurement units (IMUs) is carried out to determine their local reference frames. ...
Then, the gait analysis of a healthy subject is performed using optical markers and IMUs simultaneously. ...
Introduction Human motion capture during gait provides a way to understand the principles of the natural mode of locomotion of the human being. ...
doi:10.3390/s21020427
pmid:33435369
fatcat:67dihiddfna3fem7spdshhbil4
Automatic Synchronization of Markerless Video and Wearable Sensors for Walking Assessment
2019
IEEE Sensors Journal
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This creates a problem that the inertial sensor data is not temporally synchronized with the video camera. ...
This paper proposes a method to synchronize the video and sensor data by detecting and matching the maximum backward swings of the leg. ...
Some researchers used IMUs and video cameras for motion tracking [7] , localization [8] , and video stabilization [9] . To reduce cost, a smartphone camera is used in this research. ...
doi:10.1109/jsen.2019.2916163
fatcat:trdfrn2g3vhbpffdph6hxmm7iu
A step toward GPS/INS personal navigation systems: real-time assessment of gait by foot inertial sensing
2005
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems
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Features of human walking dynamics are incorporated in the algorithm to enhance the estimation accuracy against errors due to sensor noise and integration drift. ...
Data from GPS and IMU are managed by a DSP-based control box. ...
The IMU is attached to the subject's (right) foot instep, using a Velcro strap so as to snugly fix the unit to the shoe. ...
doi:10.1109/iros.2005.1544967
dblp:conf/iros/CavalloSG05
fatcat:lmrwgepvofcmla55wc762tufwi
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