Hand Motion Tracking System using Inertial Measurement Units and Infrared Cameras

O-larnnithipong, Nonnarit

doi:10.25148/etd.fidc007002

Cited by 1 publication

(1 citation statement)

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“…[4] It is possible [41,42] to determine the quaternion ∆q A , representing the "rotation difference" that must be compounded with the initial q G into a "fully (accelerometer) corrected" estimate, q GA , which would yield a vector matching a 0 , if used to map A init to the body frame:…”

Section: Gmvdk Algorithm For Marg Orientation Estimationmentioning

confidence: 99%

Robust Orientation Estimation from MEMS Magnetic, Angular Rate, and Gravity (MARG) Modules for Human–Computer Interaction

Sonchan,

Ratchatanantakit,

O-Larnnithipong

et al. 2024

Micromachines

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While the availability of low-cost micro electro-mechanical systems (MEMS) accelerometers, gyroscopes, and magnetometers initially seemed to promise the possibility of using them to easily track the position and orientation of virtually any object that they could be attached to, this promise has not yet been fulfilled. Navigation-grade accelerometers and gyroscopes have long been the basis for tracking ships and aircraft, but the signals from low-cost MEMS accelerometers and gyroscopes are still orders of magnitude poorer in quality (e.g., bias stability). Therefore, the applications of MEMS inertial measurement units (IMUs), containing tri-axial accelerometers and gyroscopes, are currently not as extensive as they were expected to be. Even the addition of MEMS tri-axial magnetometers, to conform magnetic, angular rate, and gravity (MARG) sensor modules, has not fully overcome the challenges involved in using these modules for long-term orientation estimation, which would be of great benefit for the tracking of human–computer hand-held controllers or tracking of Internet-Of-Things (IoT) devices. Here, we present an algorithm, GMVDμK (or simply GMVDK), that aims at taking full advantage of all the signals available from a MARG module to robustly estimate its orientation, while preventing damaging overcorrections, within the context of a human–computer interaction application. Through experimental comparison, we show that GMVDK is more robust to magnetic disturbances than three other MARG orientation estimation algorithms in representative trials.

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Section: Gmvdk Algorithm For Marg Orientation Estimationmentioning

confidence: 99%