crta
Hrvatska znanstvena Sekcija img
bibliografija
3 gif
 Naslovna
 O projektu
 FAQ
 Kontakt
4 gif
Pregledavanje radova
Jednostavno pretraživanje
Napredno pretraživanje
Skupni podaci
Upis novih radova
Upute
Ispravci prijavljenih radova
Ostale bibliografije
Slični projekti
 Bibliografske baze podataka

Pregled bibliografske jedinice broj: 837760

Zbornik radova

Autori: Ćesić, Josip; Joukov, Vladimir; Petrović, Ivan; Kulić, Dana
Naslov: Full Body Human Motion Estimation on Lie Groups Using 3D Marker Position Measurements
Izvornik: Proceedings of the 2016 IEEE-RAS International Conference on Humanoid Robotics (Humanoids2016)Cancun, Meksiko : IEEE-RAS , 2016. .
Skup: 2016 IEEE-RAS International Conference on Humanoid Robotics
Mjesto i datum: Cancun, Meksiko, 15.-19.11.2016.
Ključne riječi: Human Motion Estimation ; Lie Groups ; Marker Measurements
Sažetak:
This paper proposes a new algorithm for full body human motion estimation using 3D marker position measurements. The joints are represented with Lie group members, including special orthogonal groups SO(2) and SO(3), and a special euclidean group SE(3). We employ the Lie Group Extended Kalman Filter (LG-EKF) for stochastic inference on groups, thus explicitly accounting for the non- euclidean geometry of the state space, and provide the derivation of the LG-EKF recursion for articulated motion estimation. We evaluate the performance of the proposed algorithm in both simulation and on real-world motion capture data, comparing it with the Euler angles based EKF. The results show that the proposed filter significantly outperforms the Euler angles based EKF, since it estimates human motion more accurately and is not affected by gimbal lock.
Vrsta sudjelovanja: Predavanje
Vrsta prezentacije u zborniku: Cjeloviti rad (više od 1500 riječi)
Vrsta recenzije: Međunarodna recenzija
Izvorni jezik: ENG
Kategorija: Znanstveni
Znanstvena područja:
Elektrotehnika
Puni text rada: 837760.main.pdf (tekst priložen 10. Lis. 2016. u 14:37 sati)
Upisao u CROSBI: Josip Ćesić (josip.cesic@fer.hr), 10. Lis. 2016. u 14:37 sati



Verzija za printanje   za tiskati


upomoc
foot_4