A Methodology for the Performance Evaluation of Inertial Measurement Units

被引：47

作者：

Sessa, Salvatore ^{[1
]}

Zecca, Massimiliano ^{[3
,5
,6
]}

Lin, Zhuohua ^{[1
,7
]}

Bartolomeo, Luca ^{[2
,7
]}

Ishii, Hiroyuki ^{[8
]}

Takanishi, Atsuo ^{[4
,5
,6
,7
]}

机构：

[1] Waseda Univ, Grad Sch Creat Sci & Engn, Shinjuku Ku, Tokyo 1688480, Japan

[2] Waseda Univ, Grad Sch Adv Sci & Engn, Shinjuku Ku, Tokyo 1688480, Japan

[3] Waseda Univ, Sch Creat Sci & Engn, Shinjuku Ku, Tokyo 1698555, Japan

[4] Waseda Univ, Dept Modern Mech Engn, Shinjuku Ku, Tokyo 1688480, Japan

[5] Waseda Univ, HRI, Shinjuku Ku, Tokyo 1620044, Japan

[6] Waseda Univ, Italy Japan Joint Lab Humanoid & Personal Robot R, Shinjuku Ku, Tokyo 1688480, Japan

[7] Waseda Univ, Global Robot Acad, Shinjuku Ku, Tokyo 1698555, Japan

[8] Waseda Univ, Waseda Res Inst Sci & Engn, Shinjuku Ku, Tokyo 1688480, Japan

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2013年 / 71卷 / 02期

关键词：

Performance evaluation; Inertial Measurement Units; Motion capture systems; Motion sensors calibration; MOTION-CAPTURE; ORIENTATION; TRACKING; CALIBRATION; POSITION; SYSTEM; TIME;

D O I：

10.1007/s10846-012-9772-8

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents a methodology for a reliable comparison among Inertial Measurement Units or attitude estimation devices in a Vicon environment. The misalignment among the reference systems and the lack of synchronization among the devices are the main problems for the correct performance evaluation using Vicon as reference measurement system. We propose a genetic algorithm coupled with Dynamic Time Warping (DTW) to solve these issues. To validate the efficacy of the methodology, a performance comparison is implemented between the WB-3 ultra-miniaturized Inertial Measurement Unit (IMU), developed by our group, with the commercial IMU InertiaCube3 (TM) by InterSense.

引用

页码：143 / 157

页数：15

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