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Hybrid tracking of human operators using IMU/UWB data fusion by a Kalman filter

Authors:

J. A. Corrales,

F. A. Candelas,

F. TorresAuthors Info & Claims

HRI '08: Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction

Pages 193 - 200

https://doi.org/10.1145/1349822.1349848

Published: 12 March 2008 Publication History

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Abstract

The precise localization of human operators in robotic workplaces is an important requirement to be satisfied in order to develop human-robot interaction tasks. Human tracking provides not only safety for human operators, but also context information for intelligent human-robot collaboration. This paper evaluates an inertial motion capture system which registers full-body movements of an user in a robotic manipulator workplace. However, the presence of errors in the global translational measurements returned by this system has led to the need of using another localization system, based on Ultra-WideBand (UWB) technology. A Kalman filter fusion algorithm which combines the measurements of these systems is developed. This algorithm unifies the advantages of both technologies: high data rates from the motion capture system and global translational precision from the UWB localization system. The developed hybrid system not only tracks the movements of all limbs of the user as previous motion capture systems, but is also able to position precisely the user in the environment.

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Armani RQian CJiang JHolz C(2024)Ultra Inertial Poser: Scalable Motion Capture and Tracking from Sparse Inertial Sensors and Ultra-Wideband RangingACM SIGGRAPH 2024 Conference Papers10.1145/3641519.3657465(1-11)Online publication date: 13-Jul-2024
https://dl.acm.org/doi/10.1145/3641519.3657465
Jiang FCaruso DDhekne AQu QEngel JDong J(2024)Robust Indoor Localization with Ranging-IMU Fusion2024 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA57147.2024.10611274(11963-11969)Online publication date: 13-May-2024
https://doi.org/10.1109/ICRA57147.2024.10611274
Kahanowich NSintov A(2024)Learning Human-Arm Reaching Motion Using a Wearable Device in Human–Robot CollaborationIEEE Access10.1109/ACCESS.2024.336566112(24855-24865)Online publication date: 2024
https://doi.org/10.1109/ACCESS.2024.3365661
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Index Terms

Hybrid tracking of human operators using IMU/UWB data fusion by a Kalman filter
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
      1. External interfaces for robotics
    2. Sensors and actuators

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Published In

HRI '08: Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction

March 2008

402 pages

ISBN:9781605580173

DOI:10.1145/1349822

General Chairs:
Terry Fong
NASA Ames Research Center, USA
,
Kerstin Dautenhahn
University of Hertfordshire, UK
,
Program Chairs:
Matthias Scheutz
Indiana University Bloomington, USA
,
Yiannis Demiris
Imperial College London, UK

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

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Published: 12 March 2008

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HRI '08: International Conference on Human Robot Interaction

March 12 - 15, 2008

Amsterdam, The Netherlands

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Overall Acceptance Rate 268 of 1,124 submissions, 24%

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Armani RQian CJiang JHolz C(2024)Ultra Inertial Poser: Scalable Motion Capture and Tracking from Sparse Inertial Sensors and Ultra-Wideband RangingACM SIGGRAPH 2024 Conference Papers10.1145/3641519.3657465(1-11)Online publication date: 13-Jul-2024
https://dl.acm.org/doi/10.1145/3641519.3657465
Jiang FCaruso DDhekne AQu QEngel JDong J(2024)Robust Indoor Localization with Ranging-IMU Fusion2024 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA57147.2024.10611274(11963-11969)Online publication date: 13-May-2024
https://doi.org/10.1109/ICRA57147.2024.10611274
Kahanowich NSintov A(2024)Learning Human-Arm Reaching Motion Using a Wearable Device in Human–Robot CollaborationIEEE Access10.1109/ACCESS.2024.336566112(24855-24865)Online publication date: 2024
https://doi.org/10.1109/ACCESS.2024.3365661
Saleem ZGustafsson FFurey EMcAfee MHuq S(2024)A review of external sensors for human detection in a human robot collaborative environmentJournal of Intelligent Manufacturing10.1007/s10845-024-02341-2Online publication date: 4-Apr-2024
https://doi.org/10.1007/s10845-024-02341-2
Luo JYin ZGui L(2024)A GNSS UWB tight coupling and IMU ESKF algorithm for indoor and outdoor mixed scenarioCluster Computing10.1007/s10586-023-04208-227:4(4855-4865)Online publication date: 5-Jan-2024
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Lee RAkhundov RJames CEdwards SSnodgrass S(2023)Variations in Concurrent Validity of Two Independent Inertial Measurement Units Compared to Gold Standard for Upper Body Posture during Computerised Device UseSensors10.3390/s2315676123:15(6761)Online publication date: 28-Jul-2023
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Shi YZhang YLi ZYuan SZhu S(2023)IMU/UWB Fusion Method Using a Complementary Filter and a Kalman Filter for Hybrid Upper Limb Motion EstimationSensors10.3390/s2315670023:15(6700)Online publication date: 26-Jul-2023
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DeVrio NMollyn VHarrison C(2023)SmartPoser: Arm Pose Estimation with a Smartphone and Smartwatch Using UWB and IMU DataProceedings of the 36th Annual ACM Symposium on User Interface Software and Technology10.1145/3586183.3606821(1-11)Online publication date: 29-Oct-2023
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Dasari MSheshadri RSundaresan KDas S(2023)RoVaRProceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies10.1145/35808547:1(1-25)Online publication date: 28-Mar-2023
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Li SDuan PShi DZou WDuan PShi L(2023)Compact Maximum Correntropy-Based Error State Kalman Filter for Exoskeleton Orientation EstimationIEEE Transactions on Control Systems Technology10.1109/TCST.2022.319376031:2(913-920)Online publication date: Mar-2023
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Mobile Location Estimation Using Fuzzy-Based IMM and Data Fusion

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Sensor data integration for indoor human tracking

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