Deep Gait Tracking With Inertial Measurement Unit

This letter presents a convolutional neural network based foot motion tracking with only six-axis inertialmeasurement-unit (IMU) sensor data. The presented approach can adapt to various walking conditions by adopting differential and window based input. The training data are further augmented by sliding and random window samplings on IMU sensor data to increase data diversity for better performance. The proposed approach fuses predictions of three-dimensional output into one model. The proposed fused model can achieve average error of 2.30 +/- 2.23 cm in the X-axis, 0.91 +/- 0.95 cm in the Y-axis, and 0.58 +/- 0.52 cm in the Z-axis.