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Real-Time Body Orientation Estimation Based on Two-Layer Stochastic Filter Architecture

Josip Musić   ORCID icon orcid.org/0000-0002-9185-5762 ; Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, University of Split, Split, Croatia
Mojmil Cecić ; Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, University of Split, Split, Croatia
Vlasta Zanchi ; Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, University of Split, Split, Croatia

Puni tekst: hrvatski, pdf (1 MB) str. 264-274 preuzimanja: 436* citiraj
APA 6th Edition
Musić, J., Cecić, M. i Zanchi, V. (2010). Procjena orijentacije tijela u realnom vremenu uporabom dvorazinske stohastičke arhitekture estimacijskog filtra. Automatika, 51 (3), 264-274. Preuzeto s https://hrcak.srce.hr/61549
MLA 8th Edition
Musić, Josip, et al. "Procjena orijentacije tijela u realnom vremenu uporabom dvorazinske stohastičke arhitekture estimacijskog filtra." Automatika, vol. 51, br. 3, 2010, str. 264-274. https://hrcak.srce.hr/61549. Citirano 25.06.2019.
Chicago 17th Edition
Musić, Josip, Mojmil Cecić i Vlasta Zanchi. "Procjena orijentacije tijela u realnom vremenu uporabom dvorazinske stohastičke arhitekture estimacijskog filtra." Automatika 51, br. 3 (2010): 264-274. https://hrcak.srce.hr/61549
Harvard
Musić, J., Cecić, M., i Zanchi, V. (2010). 'Procjena orijentacije tijela u realnom vremenu uporabom dvorazinske stohastičke arhitekture estimacijskog filtra', Automatika, 51(3), str. 264-274. Preuzeto s: https://hrcak.srce.hr/61549 (Datum pristupa: 25.06.2019.)
Vancouver
Musić J, Cecić M, Zanchi V. Procjena orijentacije tijela u realnom vremenu uporabom dvorazinske stohastičke arhitekture estimacijskog filtra. Automatika [Internet]. 2010 [pristupljeno 25.06.2019.];51(3):264-274. Dostupno na: https://hrcak.srce.hr/61549
IEEE
J. Musić, M. Cecić i V. Zanchi, "Procjena orijentacije tijela u realnom vremenu uporabom dvorazinske stohastičke arhitekture estimacijskog filtra", Automatika, vol.51, br. 3, str. 264-274, 2010. [Online]. Dostupno na: https://hrcak.srce.hr/61549. [Citirano: 25.06.2019.]

Sažetak
The article presents real time rigid body orientation estimation using inertial and magnetic sensors. Based on the review of orientation estimation literature we suggest, as possible alternative to standard approaches, novel two-layer stochastic estimation filter architecture based on Kalman and particle filters combined into two layers. Two-layer architecture was chosen because it enables greater applicability via upgrade of already implemented Kalman or particle filters. Four two-layer filter architectures were designed, each one enabling different layer interaction. Estimation of human head orientation was chosen as a case example. Simulated data and batch head orientation measurement data were used to test the proposed architectures in terms of accuracy and computational efficiency and to select the best one in terms of aforementioned performance parameters. Selected architecture was then implemented in real time for human-computer interaction and was tested on several practical applications. Obtained results are presented and discussed and future research directions suggested.

Ključne riječi
Estimation; Orientation; Kalman filter; Particle filter; Two-layer architecture

Hrčak ID: 61549

URI
https://hrcak.srce.hr/61549

[hrvatski]

Posjeta: 694 *