Development and Validation of 2D-LiDAR-Based Gait Analysis Instrument and Algorithm

Abstract

Acquiring gait parameters from usual walking is important to predict clinical outcomes including life expectancy, risk of fall, and neurocognitive performance in older people. We developed a novel gait analysis tool that is small, less-intrusive and is based on two-dimensional light detection and ranging (2D-LiDAR) technology. Using an object-tracking algorithm, we conducted a validation study of the spatiotemporal tracking of ankle locations of young, healthy participants (n = 4) by comparing our tool and a stereo camera with the motion capture system as a gold standard modality. We also assessed parameters including step length, step width, cadence, and gait speed. The 2D-LiDAR system showed a much better accuracy than that of a stereo camera system, where mean absolute errors were 46.2 ± 17.8 mm and 116.3 ± 69.6 mm, respectively. Gait parameters from the 2D-LiDAR system were in good agreement with those from the motion capture system (r = 0.955 for step length, r = 0.911 for cadence). Simultaneous tracking of multiple targets by the 2D-LiDAR system was also demonstrated. The novel system might be useful in space and resource constrained clinical practice for older adults.

Contactless Gait Assessment in Home-like Environments

“…In comparison with the literature, the accuracy of the gait parameter measurements was in line or even higher than previous studies using LiDAR systems [45][46][47][48]. In these past studies, gait velocity and step length were often the only assessed parameters, whereas we could show evidence that the system is able to measure a wide variety of gait parameters.…”

“…The shin height was defined as approximately half the mean sitting knee height of 53.5 cm reported in [ 55 ] and is well-above the mean foot clearance height of 2 cm (SD 1 cm) reported in [ 56 ]. The height of the sensor placement is also in accordance with similar studies, where the LiDAR sensors were placed between 20 cm to 40 cm height [ 45 , 46 , 47 , 48 ]. The upper-body height was chosen so as to be above most of the furniture in the NeuroTec Loft, hence providing a direct line of sight throughout the room.…”

“…Step For the first three walks, the participants were able to choose their own preferred walking speed and step length. For the first walk, there were no restrictions on the participants' walking behavior, speed or step length, and thus it was a completely free walk in line with other gait assessment studies [45][46][47][48]. During the second walk, the participants had to perform mental calculations while walking.…”

“…Galai et al used a rotating multibeam (RMB) lidar to track and identify multiple people in a natural environment as well as to identify activities [ 43 , 44 ]. LiDAR sensors were used to track gait parameters in multiple studies [ 45 , 46 , 47 , 48 ]. Gait velocity, step and stride length, cadence and step width were the most commonly measured gait parameters.…”

Human Gait Estimation Using Multiple 2D LiDARs

“…In [21]- [23] and our previous research [24], a 360 degree 2D LiDAR is placed on the ground to track the human shin during walking. The system requires only a single LiDAR so that it is simple to install everywhere in a minute.…”