Abstract
This paper discusses the estimation of the position and orientation, i.e. the pose, of a rigid body and the posture of a human using inertial sensor data only, i.e. without absolute pose information. Since this is impossible in general, specific assumptions as to the rigid body motion and the skeleton’s structure are introduced. What to expect of estimates obtained using such assumptions is also briefly covered.
This work was supported by the BMBF project SIRKA and by the Graduate School SyDe, funded by the German Excellence Initiative within the University of Bremen’s institutional strategy.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Birbach, O., Frese, U., Bauml, B.: Realtime perception for catching a flying ball with a mobile humanoid. In: Robotics and Automation (ICRA), 2011 IEEE International Conference on. pp. 5955–5962. IEEE (2011)
Kraft, E.: A quaternion-based unscented Kalman filter for orientation tracking. In: Proceedings of the Sixth International Conference of Information Fusion. vol. 1, pp. 47–54 (2003)
Roetenberg, D., Luinge, H., Slycke, P.: Xsens mvn: full 6dof human motion tracking using miniature inertial sensors. Tech. rep., Xsens Motion Technologies BV (2009)
Wenk, F., Frese, U.: Pose Estimation from Inertial Sensor Data and Prior Information. IEEE Transactions on Robotics (2014), under review
Yao, R., Heath, T., Davies, A., Forsyth, T., Mitchell, N., Hoberman, P.: Ocu- lus VR Best Practices Guide. Oculus VR (2014), http://static.oculus.com/sdk-downloads/documents/OculusBestPractices.pdf
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer Fachmedien Wiesbaden
About this chapter
Cite this chapter
Wenk, F., Frese, U. (2015). Pose and Posture Estimation using Inertial Sensor Data. In: Drechsler, R., Kühne, U. (eds) Formal Modeling and Verification of Cyber-Physical Systems. Springer Vieweg, Wiesbaden. https://doi.org/10.1007/978-3-658-09994-7_22
Download citation
DOI: https://doi.org/10.1007/978-3-658-09994-7_22
Published:
Publisher Name: Springer Vieweg, Wiesbaden
Print ISBN: 978-3-658-09993-0
Online ISBN: 978-3-658-09994-7
eBook Packages: Computer ScienceComputer Science (R0)