Improved pedestrian tracking through Kalman covariance error selective reset

Rubia, Ernesto de la; Díaz-Estrella, A.

doi:10.1049/el.2013.0213

Cited by 6 publications

(2 citation statements)

References 3 publications

(10 reference statements)

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“…To track the movements of the feet, an inertial sensor is attached to each shoe. For this purpose, we developed a technique that improves the previous results in terms of accuracy and smoothness of the trajectory [ 46 ]. To estimate the position of the user, we consider relative increments of the position and orientation from each foot.…”

Section: Methodsmentioning

confidence: 99%

Natural locomotion based on a reduced set of inertial sensors: Decoupling body and head directions indoors

Rubia¹,

Díaz-Estrella²,

Reyes‐Lecuona³

et al. 2018

PLoS ONE

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Inertial sensors offer the potential for integration into wireless virtual reality systems that allow the users to walk freely through virtual environments. However, owing to drift errors, inertial sensors cannot accurately estimate head and body orientations in the long run, and when walking indoors, this error cannot be corrected by magnetometers, due to the magnetic field distortion created by ferromagnetic materials present in buildings. This paper proposes a technique, called EHBD (Equalization of Head and Body Directions), to address this problem using two head- and shoulder-located magnetometers. Due to their proximity, their distortions are assumed to be similar and the magnetometer measurements are used to detect when the user is looking straight forward. Then, the system corrects the discrepancies between the estimated directions of the head and the shoulder, which are provided by gyroscopes and consequently are affected by drift errors. An experiment is conducted to evaluate the performance of this technique in two tasks (navigation and navigation plus exploration) and using two different locomotion techniques: (1) gaze-directed mode (GD) in which the walking direction is forced to be the same as the head direction, and (2) decoupled direction mode (DD) in which the walking direction can be different from the viewing direction. The obtained results show that both locomotion modes show similar matching of the target path during the navigation task, while DD’s path matches the target path more closely than GD in the navigation plus exploration task. These results validate the EHBD technique especially when allowing different walking and viewing directions in the navigation plus exploration tasks, as expected. While the proposed method does not reach the accuracy of optical tracking (ideal case), it is an acceptable and satisfactory solution for users and is much more compact, portable and economical.

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Section: Methodsmentioning

confidence: 99%

Natural locomotion based on a reduced set of inertial sensors: Decoupling body and head directions indoors

Rubia¹,

Díaz-Estrella²,

Reyes‐Lecuona³

et al. 2018

PLoS ONE

View full text Add to dashboard Cite

show abstract

“…Due to linearization and modeling errors of the ZUPTs, the step-wise dead reckoning can even be expected to improve performance since it will eliminate these effects to single steps [91,99]. Indeed, resetting appropriate covariance elements (which has similar effects as of performing the step-wise dead reckoning) has empirically been found to improve performance [100].…”

Section: B Step-wise Dead Reckoningmentioning

confidence: 99%

Cooperative localization by dual foot-mounted inertial sensors and inter-agent ranging

Nilsson

Zachariah

Skog

et al. 2013

EURASIP J. Adv. Signal Process.

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The implementation challenges of cooperative localization by dual foot-mounted inertial sensors and inter-agent ranging are discussed, and work on the subject is reviewed. System architecture and sensor fusion are identified as key challenges. A partially decentralized system architecture based on step-wise inertial navigation and step-wise dead reckoning is presented. This architecture is argued to reduce the computational cost and required communication bandwidth by around two orders of magnitude while only giving negligible information loss in comparison with a naive centralized implementation. This makes a joint global state estimation feasible for up to a platoon-sized group of agents. Furthermore, robust and low-cost sensor fusion for the considered setup, based on state space transformation and marginalization, is presented. The transformation and marginalization are used to give the necessary flexibility for presented sampling-based updates for the inter-agent ranging and ranging free fusion of the two feet of an individual agent. Finally, the characteristics of the suggested implementation are demonstrated with simulations and a real-time system implementation.

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ORION: One More Step in Virtual Reality Interaction

Rubia

Díaz-Estrella

2013

Human–Computer Interaction Series

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Improved pedestrian tracking through Kalman covariance error selective reset

Cited by 6 publications

References 3 publications

Natural locomotion based on a reduced set of inertial sensors: Decoupling body and head directions indoors

Natural locomotion based on a reduced set of inertial sensors: Decoupling body and head directions indoors

Cooperative localization by dual foot-mounted inertial sensors and inter-agent ranging

ORION: One More Step in Virtual Reality Interaction

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