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Full Body Human Motion Estimation on Lie Groups Using 3D Marker Position Measurements (CROSBI ID 639992)

Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija

Ćesić, Josip ; Joukov, Vladimir ; Petrović, Ivan ; Kulić, Dana Full Body Human Motion Estimation on Lie Groups Using 3D Marker Position Measurements // Proceedings of the 2016 IEEE-RAS International Conference on Humanoid Robotics (Humanoids2016). Cancun: IEEE-RAS, 2016

Podaci o odgovornosti

Ćesić, Josip ; Joukov, Vladimir ; Petrović, Ivan ; Kulić, Dana

engleski

Full Body Human Motion Estimation on Lie Groups Using 3D Marker Position Measurements

This paper proposes a new algorithm for full body human motion estimation using 3D marker position measurements. The joints are represented with Lie group members, including special orthogonal groups SO(2) and SO(3), and a special euclidean group SE(3). We employ the Lie Group Extended Kalman Filter (LG-EKF) for stochastic inference on groups, thus explicitly accounting for the non- euclidean geometry of the state space, and provide the derivation of the LG-EKF recursion for articulated motion estimation. We evaluate the performance of the proposed algorithm in both simulation and on real-world motion capture data, comparing it with the Euler angles based EKF. The results show that the proposed filter significantly outperforms the Euler angles based EKF, since it estimates human motion more accurately and is not affected by gimbal lock.

Human Motion Estimation ; Lie Groups ; Marker Measurements

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Podaci o prilogu

2016.

objavljeno

Podaci o matičnoj publikaciji

Proceedings of the 2016 IEEE-RAS International Conference on Humanoid Robotics (Humanoids2016)

Cancun: IEEE-RAS

Podaci o skupu

2016 IEEE-RAS International Conference on Humanoid Robotics

predavanje

15.11.2016-19.11.2016

Cancún, Meksiko

Povezanost rada

Elektrotehnika