Walking Trajectory Estimation Using Multi-Sensor Fusion and a Probabilistic Step Model

Abstract

This paper presents a framework for accurately and efficiently estimating a walking human’s trajectory using a computationally inexpensive non-Gaussian recursive Bayesian estimator. The proposed framework fuses global and inertial measurements with predictions from a kinematically driven step model to provide robustness in localization. A maximum a posteriori-type filter is trained on typical human kinematic parameters and updated based on live measurements. Local step size estimates are generated from inertial measurement units using the zero-velocity update (ZUPT) algorithm, while global measurements come from a wearable GPS. After each fusion event, a gradient ascent optimizer efficiently locates the highest likelihood of the individual’s location which then triggers the next estimator iteration.The proposed estimator was compared to a state-of-the-art particle filter in several Monte Carlo simulation scenarios, and the original framework was found to be comparable in accuracy and more efficient at higher resolutions. It is anticipated that the methods proposed in this work could be more useful in general real-time estimation (beyond just personal navigation) than the traditional particle filter, especially if the state is many-dimensional. Applications of this research include but are not limited to: in natura biomechanics measurement, human safety in manual fieldwork environments, and human/robot teaming.

Integrating Bayesian Classification into a Mobile App for Enhanced ACL Assessment: “Pivot-Shift Meter App”

“…Most authors that approached the quantification of the pivot test through accelerometers seem to agree on a method to interpret a signal acquired by the pivot test with only one morphological characteristic in the graph, which allows them to detect subluxation and reduction of the joint, equivalent to the "pivot" part of the signals acquired in this study [6,18,29,31,36,39]. Nevertheless, this method could be enhanced by the use of machine learning algorithms [42][43][44][45].…”

Mobile App for Enhanced Anterior Cruciate Ligament (ACL) Assessment in Conscious Subjects: “Pivot-Shift Meter”

“…Most authors that approach the quantification of the pivot test through accelerometers seem to agree on a method to interpret a signal acquired by the pivot test with only one morphological characteristic in the graph, which allows them to detect subluxation and reduction of the joint, equivalent to the “pivot” segment of the signals acquired in this study. Nevertheless, this method could be enhanced by the use of machine learning algorithms [ 40 , 41 , 42 , 43 , 44 , 45 ]. Labbe et al, and more recently Yañez-Diaz et al, implemented SVM algorithms to signals acquired with accelerometers in order to grade the PS phenomenon objectively, reporting acceptable results, which can be compared to the results of the algorithm to organize the signals by class.…”