Hybrid tracking of human operators using IMU/UWB data fusion by a Kalman filter

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Title: Hybrid tracking of human operators using IMU/UWB data fusion by a Kalman filter
Authors: Corrales Ramón, Juan Antonio | Candelas-Herías, Francisco A. | Torres, Fernando
Research Group/s: Automática, Robótica y Visión Artificial
Center, Department or Service: Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal
Keywords: Motion capture | Inertial sensors | UWB | Human tracking and monitoring | Indoor location | Data fusion | Kalman filter
Knowledge Area: Ingeniería de Sistemas y Automática
Issue Date: 2008
Publisher: Association for Computing Machinery
Citation: CORRALES RAMÓN, Juan Antonio; CANDELAS HERÍAS, Francisco Andrés; TORRES MEDINA, Fernando. "Hybrid tracking of human operators using IMU/UWB data fusion by a Kalman filter". En: HRI 2008 : Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction : March 12-15, 2008, Amsterdam, Netherlands. New York : ACM, 2008. ISBN 978-1-60558-017-3, pp. 193-200
Abstract: The precise localization of human operators in robotic workplaces is an important requirement to be satisfied in order to develop human-robot interaction tasks. Human tracking provides not only safety for human operators, but also context information for intelligent human-robot collaboration. This paper evaluates an inertial motion capture system which registers full-body movements of an user in a robotic manipulator workplace. However, the presence of errors in the global translational measurements returned by this system has led to the need of using another localization system, based on Ultra-WideBand (UWB) technology. A Kalman filter fusion algorithm which combines the measurements of these systems is developed. This algorithm unifies the advantages of both technologies: high data rates from the motion capture system and global translational precision from the UWB localization system. The developed hybrid system not only tracks the movements of all limbs of the user as previous motion capture systems, but is also able to position precisely the user in the environment.
Sponsor: This work is funded by the Spanish Ministry of Education and Science through the research project ‘Design, Implementation and Experimentation of Intelligent Manipulation Scenarios for Automatic Assembly and Disassembly Applications’ (DPI2005-06222) and the pre-doctoral grant AP2005-1458. The Valencian Government has also funded this research through the project ‘infraestructura05/053’.
URI: http://hdl.handle.net/10045/10536
ISBN: 978-1-60558-017-3
DOI: 10.1145/1349822.1349848
Language: eng
Type: info:eu-repo/semantics/bookPart
Rights: © ACM, 2008. This is the author's version of the work. It is posted here by permission of ACM for your personal use. Not for redistribution. The definitive version was published in HRI 2008 : Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction. ISBN 978-1-60558-017-3, pp. 193-200, http://doi.acm.org/10.1145/1349822.1349848
Peer Review: si
Publisher version: http://dx.doi.org/10.1145/1349822.1349848
Appears in Collections:INV - AUROVA - Comunicaciones a Congresos Internacionales

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