8th International Conference on Body Area Networks

Research Article

A generic approach to inertial tracking of arbitrary kinematic chains

  • @INPROCEEDINGS{10.4108/icst.bodynets.2013.253608,
        author={Markus Miezal and Gabriele Bleser and Norbert Schmitz and Didier Stricker},
        title={A generic approach to inertial tracking of arbitrary kinematic chains},
        proceedings={8th International Conference on Body Area Networks},
        publisher={ICST},
        proceedings_a={BODYNETS},
        year={2013},
        month={10},
        keywords={inertial motion capture sensor fusion body sensor network},
        doi={10.4108/icst.bodynets.2013.253608}
    }
    
  • Markus Miezal
    Gabriele Bleser
    Norbert Schmitz
    Didier Stricker
    Year: 2013
    A generic approach to inertial tracking of arbitrary kinematic chains
    BODYNETS
    ACM
    DOI: 10.4108/icst.bodynets.2013.253608
Markus Miezal1,*, Gabriele Bleser1, Norbert Schmitz1, Didier Stricker1
  • 1: DFKI
*Contact email: markus.miezal@dfki.de

Abstract

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.