Survey of Motion Tracking Methods Based on Inertial Sensors: A Focus on Upper Limb Human Motion

Alessandro Filippeschi; Norbert Schmitz; Markus Miezal; Gabriele Bleser-Taetz; Emanuele Ruffaldi; Didier Stricker

In: Giancarlo Fortino; Hassan Ghasemzadeh; Wenfeng Li; Yin Zhang; Luca Benini (Hrsg.). Sensors - Open Access Journal (Sensors), Vol. 17, No. 6, Pages 1-40, MDPI AG, Basel, Schweiz, 6/2017.


Motion tracking based on commercial inertial measurements units (IMUs) has been widely studied in the latter years as it is a cost-effective enabling technology for those applications in which motion tracking based on optical technologies is unsuitable. This measurement method has a high impact in human performance assessment and human-robot interaction. IMU motion tracking systems are indeed self-contained and wearable, allowing for long-lasting tracking of the user motion in situated environments. After a survey on IMU-based human tracking, five techniques for motion reconstruction were selected and compared to reconstruct a human arm motion. IMU based estimation was matched against motion tracking based on the Vicon marker-based motion tracking system considered as ground truth. Results show that all but one of the selected models perform similarly (about 35 mm average position estimation error).


Weitere Links

Survey_of_Motion_Tracking_Methods.pdf (pdf, 2 MB )

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence