A generic approach to inertial tracking of arbitrary kinematic chains

Markus Miezal, Gabriele Bleser, 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 United States 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.

German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz