Inertial Guided Visual Sample Consensus based wearable orientation estimation for body motion tracking

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	Inertial Guided Visual Sample Consensus based wearable orientation estimation for body motion tracking
	Zhang YL(张吟龙); Tan JD(谈金东); Liang W(梁炜); Li Y(李杨)
	2015
会议名称	2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
会议日期	December 6-9, 2015
会议地点	Zhuhai, China
页码	2271-2276
中文摘要	This paper presents a novel orientation estimate scheme using Inertial Guided Visual SAmple Consensus (IGVSAC) strategy for human body motion tracking. Unlike the traditional visual based orientation estimation methods where outliers among image-pair putative correspondences are removed based on hypothesize-and-verify models such as costly RANSAC, our approach novelly exploits motion prior information (i.e., rotation and translation) deduced from quick-response Inertial Measurement Unit (IMU) as the initial body pose to assist visual sensor in removing hidden outliers, which effectively overcomes the major drawback of those sample- and-consensus models. In addition, our IGVSAC algorithm is able to ensure the estimation accuracy even in the presence of large quantity of outliers among correspondences. Apart from that, the estimated orientation from visual sensor is, in turn, able to correct the IMU estimates using feedback control tactic, which can address IMU inherent long-term drifting issue. Extensive experiments are conducted to verify the effectiveness and robustness of our IGVSAC algorithm. The comparisons with highly accurate VICON Optical Motion Tracking System prove that our orientation estimate system is quite suitable for human body joint capturing.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISBN号	978-1-4673-9674-5
WOS记录号	WOS:000380476200379
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/18599]
专题	沈阳自动化研究所_工业控制网络与系统研究室
推荐引用方式 GB/T 7714	Zhang YL,Tan JD,Liang W,et al. Inertial Guided Visual Sample Consensus based wearable orientation estimation for body motion tracking[C]. 见:2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Zhuhai, China. December 6-9, 2015.