Indoor 3D Position Estimation Using Low-Cost Inertial Sensors and Marker-Based Video-Tracking

被引：0
|
作者：
Hartmann, Bastian [1 ]
Link, Norbert [1 ]
Trommer, Gert F. [2 ]
机构：
[1] Karlsruhe Univ Appl Sci, Inst Appl Res, Moltkestr 30, D-76133 Karlsruhe, Germany
[2] Karlsruhe Inst Technol KIT, Inst Syst Opt, D-76128 Karlsruhe, Germany
来源：
2010 IEEE-ION POSITION LOCATION AND NAVIGATION SYMPOSIUM PLANS | 2010年
关键词：
Indoor Positioning; Inertial MEMS; Video Aided; Extended Kalman Filter; VISION;
D O I：
暂无
中图分类号：
U6 [水路运输]; P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
In this paper, a system for indoor 3D position tracking with an inertial measurement unit and a marker-based video tracking system utilizing external cameras is presented. Similar to an integrated navigation system, 3D position, velocity and attitude are calculated from IMU measurements and aided by using position corrections from the video tracking system. The measurements from both sensor sources are fused with an extended Kalman filter model, which incorporates the estimation of IMU biases for drift compensation during video outages. The performance of the filter approach has been tested with simulated data and the whole system has been evaluated with real data from a hand tracking scenario. By means of the combination of inertial sensors and vision-based position tracking, the proposed system is able to overcome video measurement outages over short periods of time as well as drift problems of the IMU.
引用
收藏
页码：713 / 720
页数：8
相关论文
共 50 条
  • [1] A 3D indoor positioning system based on low-cost MEMS sensors
    Zheng, Lingxiang
    Zhou, Wencheng
    Tang, Weiwei
    Zheng, Xianchao
    Peng, Ao
    Zheng, Huiru
    SIMULATION MODELLING PRACTICE AND THEORY, 2016, 65 : 45 - 56
  • [2] 3D position estimation of flexible instruments: marker-less and marker-based methods
    Reilink, Rob
    Stramigioli, Stefano
    Misra, Sarthak
    INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY, 2013, 8 (03) : 407 - 417
  • [3] 3D position estimation of flexible instruments: marker-less and marker-based methods
    Rob Reilink
    Stefano Stramigioli
    Sarthak Misra
    International Journal of Computer Assisted Radiology and Surgery, 2013, 8 : 407 - 417
  • [4] A Low-Cost Marker-Based Optical Motion Capture System to Validate Inertial Measurement Units
    Siaw, Teck Ung
    Han, Yi Chiew
    Wong, Kiing Ing
    IEEE SENSORS LETTERS, 2023, 7 (02)
  • [5] On 3D printing of low-cost sensors using recycled PET
    Singh, Rupinder
    Singh, Bhanu Pratap
    Singh, Amrinder Pal
    Kumar, Vinay
    Kumar, Ranvijay
    Bodaghi, Mahdi
    Serjouei, Ahmad
    Wei, Yang
    SADHANA-ACADEMY PROCEEDINGS IN ENGINEERING SCIENCES, 2022, 47 (04):
  • [6] On 3D printing of low-cost sensors using recycled PET
    Rupinder Singh
    Bhanu Pratap Singh
    Amrinder Pal Singh
    Vinay Kumar
    Ranvijay Kumar
    Mahdi Bodaghi
    Ahmad Serjouei
    Yang Wei
    Sādhanā, 47
  • [7] Fusion of Inertial and Magnetic Sensors for 3D Position and Orientation Estimation
    Tadayon, P.
    Felderhoff, T.
    Knopp, A.
    Staude, G.
    2016 38TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), 2016, : 3362 - 3365
  • [8] Position Estimation for Projectiles Using Low-Cost Sensors and Flight Dynamics
    Fairfax, Luisa D.
    Fresconi, Frank E.
    JOURNAL OF AEROSPACE ENGINEERING, 2014, 27 (03) : 611 - 620
  • [9] Estimation of the Cycling Cadence Using Low-Cost Inertial Sensors Mounted on a Bicycle
    Mihaldinec, Hrvoje
    Klaic, Luka
    Dzapo, Hrvoje
    2023 6TH CONFERENCE ON CLOUD AND INTERNET OF THINGS, CIOT, 2023, : 24 - 28
  • [10] 3D hand motion and position estimation using ultrasonic receiver array and inertial sensors
    Seo, Sang-Woo
    Kwon, SeungJoon
    12TH INTERNATIONAL CONFERENCE ON ICT CONVERGENCE (ICTC 2021): BEYOND THE PANDEMIC ERA WITH ICT CONVERGENCE INNOVATION, 2021, : 287 - 289
12345