Inertial Motion Tracking for Inserting Humans into a Networked Synthetic Environment

Abstract

The public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information.Send comments regarding this burden estimate or any other aspect of this collection of information, including suggesstions for reducing this burden, to Washington Headquarters Services, Directorate for Information Operations and Reports, 1215 Jefferson Davis Highway, Suite 1204, Arlington VA, 22202-4302. Respondents should be aware that notwithstanding any other provision of law, no person shall be subject to any oenalty for failing to comply with a collection of information if it does not display a currently valid OMB control number. PLEASE DO NOT RETURN YOUR FORM TO THE ABOVE ADDRESS. a. REPORT Inertial Motion Tracking for Inserting Humans into a Networked Synthetic Environment ABSTRACT SECURITY CLASSIFICATION OF:Inertial/Magnetic tracking is based on the use of sensors containing three orthogonally mounted angular rate sensors, three orthogonal linear accelerometers and three orthogonal magnetometers to determine independently the orientation of each link of an articulated rigid body. Inertial/magnetic orientation tracking could be applied to a broad range of problems which require real-time tracking of an articulated structure without being continuously dependent upon an artificially generated source. This research focuses on the goal of developing and demonstrating wireless full body tracking using MARG sensor modules. S REPORT DATE (DD-MM-YYYY) TITLE AND SUBTITLE 31-08-200713. SUPPLEMENTARY NOTES The views, opinions and/or findings contained in this report are those of the author(s) and should not contrued as an official Department of the Army position, policy or decision, unless so designated by other documentation. Approved for public release; Federal purpose rights U Final Report Inertial Motion Tracking for Inserting Humans into a Networked Synthetic EnvironmentReport Title ABSTRACTInertial/Magnetic tracking is based on the use of sensors containing three orthogonally mounted angular rate sensors, three orthogonal linear accelerometers and three orthogonal magnetometers to determine independently the orientation of each link of an articulated rigid body. Inertial/magnetic orientation tracking could be applied to a broad range of problems which require real-time tracking of an articulated structure without being continuously dependent upon an artificially generated source. This research focuses on the goal of developing and demonstrating wireless full body tracking using MARG sensor modules.During the period of this report, six manuscripts were submitted for peer-reviewed publication. Of these six, five have been accepted. These include three journal publications and two conference papers. In addition, scientific advances have been made in the following areas:• Number of Presentations:0.00 Non Peer-Reviewed Conference...

3D Human Motion Capturing Based Only on Acceleration and Angular Rate Measurement for Low Extremities

“…In literature, often a RMSE between 1° to 6° is given for inertial sensor based motion tracking systems [7,14,15,16]. Most of these systems use complementary sensors to increase the accuracy of the gyroscope and accelerometer measurement.…”

IMU/UWB Fusion Method Using a Complementary Filter and a Kalman Filter for Hybrid Upper Limb Motion Estimation

“…Considering that the accelerometers can only compensate for the tilt angles relative to the direction of gravity, it is necessary to introduce magnetometers to provide compensation for the yaw angles, which is known as nine-axis IMU or the magnetic, angular rate, and gravity (MARG) system [14]. Data fusion of three inertial sensors can be achieved by adopting either a complementary filter [14][15][16][17] or a classic Kalman filter [18,19]. The Kalman filter has been widely used as an orientation filter for the majority of the proposed methods.…”

Modular wireless inertial trackers for biomedical applications

“…In 2006, Roetenberg proposed of using a set of triaxial accelerometer, triaxial gyroscopes and a magnetometer to estimate and monitor human motion in his dissertation [13]. There are also multiple researches for incorporating inertial measurement units for motion tracking into virtual and augmented reality environment [14]- [16]. Recently, Kun used accelerometers and magnetometers to estimate the knee joint motion during gait [15].…”