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A generic approach to inertial tracking of arbitrary kinematic chains

Markus Miezal; Gabriele Bleser-Taetz; Norbert Schmitz; Didier Stricker
In: The 8th International Conference on Body Area Networks . International Conference on Body Area Networks (Bodynets-2013), 8th, September 30 - October 2, Boston, Massachusetts, USA, 2013.


Inertial tracking is still an area of active research, especially in the context of real-time human motion capture. Existing systems either propose loosely coupled tracking approaches, taking the resulting drawbacks into account, or they propose tightly coupled solutions limited to a fixed chain with few segments, but without any flexibility in changing the skeleton structure. Therefore, this paper proposes a generic approach for tracking arbitrary kinematic chains in a tightly coupled recursive filtering framework. The generic property as well as the tracking stability of the proposed system are demonstrated and initial experimental results concerning its accuracy are also presented.