Human motion estimation on Lie groups using IMU measurements

Vladimir Joukov, Josip Cesic, Kevin Westermann, Ivan Markovic, Dana Kulic, Ivan Petrovic

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

2 Citations (Scopus)

Abstract

This paper proposes a new algorithm for human motion estimation using inertial measurement unit (IMU) measurements. We model the joints by matrix Lie groups, namely the special orthogonal groups SO(2) and SO(3), representing rotations in 2D and 3D space, respectively. The state space is defined by the Cartesian product of the rotation groups and their velocities and accelerations, given a kinematic model of the articulated body. In order to estimate the state, we propose the Lie Group Extended Kalman Filter (LG-EKF), thus explicitly accounting for the non-Euclidean geometry of the state space, and we derive the LG-EKF recursion for articulated motion estimation based on IMU measurements. The performance of the proposed algorithm is compared to the EKF based on Euler angle parametrization in both simulation and real-world experiments. The results show that for motion near gimbal lock regions, which is common for shoulder movement, the proposed filter is a significant improvement over the Euler angles EKF.

Original languageEnglish
Title of host publication2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017)
EditorsRichard Vaughan
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages1965-1972
Number of pages8
ISBN (Electronic)9781538626825, 9781538626818
ISBN (Print)9781538626832
DOIs
Publication statusPublished - 13 Dec 2017
Externally publishedYes
EventIEEE/RSJ International Conference on Intelligent Robots and Systems 2017: Friendly People, Friendly Robots - Vancouver, Canada
Duration: 24 Sep 201728 Sep 2017
Conference number: 30th
http://iros2017.org/

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
PublisherIEEE, Institute of Electrical and Electronics Engineers
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems 2017
Abbreviated titleIROS2017
CountryCanada
CityVancouver
Period24/09/1728/09/17
Internet address

Cite this

Joukov, V., Cesic, J., Westermann, K., Markovic, I., Kulic, D., & Petrovic, I. (2017). Human motion estimation on Lie groups using IMU measurements. In R. Vaughan (Ed.), 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017) (pp. 1965-1972). (IEEE International Conference on Intelligent Robots and Systems). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/IROS.2017.8206016