Simultaneous motion tracking and localisation of a person based on the integration of multiple IMUs and depth camera

摘要

To overcome the limitations of the conventional motion tracking and localisation methods: environmental constraints of the infra-based approaches and long-term inaccuracy of the wearable sensor-based approaches, an algorithm for simultaneous motion tracking and localisation (SMaL) of a person, namely multiple inertial measurement unit (IMU)-based SMaL (MIbS), is proposed. A filtering method for the multiple IMUs/depth camera integration (MDI) is also proposed to add long-term localisation accuracy to the MIbS. The performance of the proposed MIbS and MDI is verified experimentally. The experimental results show that the proposed MIbS can track the motion of the person with the wearable sensor system accurately, and can localise the person on the local coordinate frame of the testbed. The encouraging fact is that the localisation errors caused by the MIbS grow slowly with time. Also, the growing localisation errors can be compensated by the MDI.