Sensor data integration for indoor human tracking

被引：16

作者：

Corrales, J. A. ^{[1
]}

Candelas, F. A. ^{[1
]}

Torres, F. ^{[1
]}

机构：

[1] Univ Alicante, Phys Syst Engn & Signal Theory Dept, San Vicente Del Raspeig 03690, Spain

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2010年 / 58卷 / 08期

关键词：

Indoor location; Motion capture; Human-robot interaction; Kalman filter; Particle filter; PARTICLE FILTER; FUSION;

D O I：

10.1016/j.robot.2010.05.001

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A human tracking system based on the integration of the measurements from an inertial motion capture system and a UWB (Ultra-Wide Band) location system has been developed. On the one hand, the rotational measurements from the inertial system are used to track precisely all limbs of the body of the human. On the other hand, the translational measurements from both systems are combined by three different fusion algorithms (a Kalman filter, a particle filter and a combination of both) in order to obtain a precise global localization of the human in the environment. Several experiments have been performed to compare their accuracy and computational efficiency (C) 2010 Elsevier B.V. All rights reserved

引用

页码：931 / 939

页数：9

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