Upper limb motion tracking with the integration of IMU and Kinect

	Upper limb motion tracking with the integration of IMU and Kinect
	Tian Yushuang; Meng Xiaoli; Tao Dapeng; Liu Dongquan; Feng Chen
刊名	NEUROCOMPUTING
	2015
英文摘要	Upper limb motion tracking attracts attentions from both academia and industry due to its value in a wide range of applications. Although existing optical-based tracking techniques can provide accurate tracking results, the product cost and complexity keep them away from most daily life applications. Recently, low-cost inertial measurement unit (IMU) and Kinect techniques provide a feasible/economical solution for such trajectory tracking problems while either of them still has its own limitations. In this paper, we investigated how to fuse data from internal sensors of IMU, and fuse IMU data with Kinect in order to provide robust hand position information compensated for the limitations of those sensors. The calculation of position is sequentially achieved by three fusion strategies: double integration of IMU internal sensors, IMU internal sensor fusion with geometrical constraints and unscented Kalman filter (UKF) based fusion of IMU and Kinect. Experimental results show that the first two approaches suffer from drifting effects, while the proposed IMU and Kinect fusion method can provide drift-free and smooth results. Comparing with using Kinect alone, this approach is able to achieve better results in terms of both accuracy as well as robustness. (C) 2015 Elsevier B.V. All rights reserved.
收录类别	SCI
原文出处	http://www.sciencedirect.com/science/article/pii/S0925231215001472
语种	英语
内容类型	期刊论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/6687]
专题	深圳先进技术研究院_集成所
作者单位	NEUROCOMPUTING
推荐引用方式 GB/T 7714	Tian Yushuang,Meng Xiaoli,Tao Dapeng,et al. Upper limb motion tracking with the integration of IMU and Kinect[J]. NEUROCOMPUTING,2015.
APA	Tian Yushuang,Meng Xiaoli,Tao Dapeng,Liu Dongquan,&Feng Chen.(2015).Upper limb motion tracking with the integration of IMU and Kinect.NEUROCOMPUTING.
MLA	Tian Yushuang,et al."Upper limb motion tracking with the integration of IMU and Kinect".NEUROCOMPUTING (2015).