The Development of Motion Tracking Algorithms for Low Cost Inertial Measurement Units

In this paper, we describe an algorithm for the numericalevaluation of the orientation of an object to which a clusterof accelerometers, gyroscopes and magnetometers has beenattached. The algorithm is implemented through a set ofMax/Msp and pd new externals. Through the successfulimplementation of the algorithm, we introduce Pointingat, a new gesture device for the control of sound in a 3Denvironment. This work has been at the core of the Celeritas Project, an interdisciplinary research project on motiontracking technology and multimedia live performances between the Tyndall Institute of Cork and the InteractionDesign Centre of Limerick.