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

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

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 2016 IEEE-RAS International Conference on Humanoid Robotics (Humanoids2016) / - Cancun : IEEE-RAS, 2016

Skup
2016 IEEE-RAS International Conference on Humanoid Robotics

Mjesto i datum
Cancún, Meksiko, 15.11.2016. - 19.11.2016

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Human Motion Estimation ; Lie Groups ; Marker Measurements

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA