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Robust orientation estimate via inertial guided visual sample consensus
Zhang YL(张吟龙); Liang W(梁炜); Li Y(李杨); An HB(安海博); Tan JD(谈金东)
作者部门工业控制网络与系统研究室
关键词Orientation Estimate Wearable Sensors Inertial Measurement Unit Monocular Camera Sample And Consensus
发表期刊Personal and Ubiquitous Computing
ISSN1617-4909
2018
卷号22期号:2页码:259–274
收录类别SCI ; EI
EI收录号20173104011957
WOS记录号WOS:000429358200004
产权排序1
资助机构National Science Foundation of China ; Youth Innovation Promotion Association, CAS
摘要This paper presents a novel orientation estimate approach named inertial guided visual sample consensus (IGVSAC). This method is intentionally designed for capturing the orientation of human body joints in free-living environments. Unlike the traditional visual-based orientation estimation methods, where outliers among putative image-pair correspondences are removed based on hypothesize-and-verify models such as the computationally costly RANSAC, our approach novelly exploits prior motion information (i.e., rotation and translation) deduced from the quick-response inertial measurement unit (IMU) as the initial body pose to assist camera in removing hidden outliers. In addition, our IGVSAC algorithm is able to ensure estimation accuracy even in the presence of a large quantity of outliers, thanks to its capability of rejecting apparent mismatches. The estimated orientation from the visual sensor is, in turn, able to correct long-term IMU drifts. We conducted extensive experiments to verify the effectiveness and robustness of our IGVSAC algorithm. Comparisons with highly accurate VICON and OptiTrack Motion Tracking Systems prove that our orientation estimate system is quite suitable for capturing human body joints.
语种英语
WOS类目Computer Science, Information Systems ; Telecommunications
关键词[WOS]TRACKING ; SENSORS ; CAMERA ; SYSTEM
WOS研究方向Computer Science ; Telecommunications
资助项目National Science Foundation of China[61233007] ; National Science Foundation of China[71661147005] ; National Science Foundation of China[61673371] ; Youth Innovation Promotion Association, CAS[2015157]
引用统计
被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/20808
专题工业控制网络与系统研究室
通讯作者Liang W(梁炜); Tan JD(谈金东)
作者单位1.Key Laboratory of Networked Control Systems, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
3.Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, Konxville, TN, 37996, United States
推荐引用方式
GB/T 7714
Zhang YL,Liang W,Li Y,et al. Robust orientation estimate via inertial guided visual sample consensus[J]. Personal and Ubiquitous Computing,2018,22(2):259–274.
APA Zhang YL,Liang W,Li Y,An HB,&Tan JD.(2018).Robust orientation estimate via inertial guided visual sample consensus.Personal and Ubiquitous Computing,22(2),259–274.
MLA Zhang YL,et al."Robust orientation estimate via inertial guided visual sample consensus".Personal and Ubiquitous Computing 22.2(2018):259–274.
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