Drift-Free Foot Orientation Estimation in Running Using Wearable IMU
Publications associées (48)
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Stochastic behavior of an instrument is often analyzed by constructing the Allan (or wavelet) variance signatures from an error signal. For inertial sensors, such a signature is conveniently obtained by recording data at rest. The analysis of this signal w ...
IEEE ION PLANS2018
Flying robots require a combination of accuracy and low latency in their state estimation in order to achieve stable and robust flight. However, due to the power and payload constraints of aerial platforms, state estimation algorithms must provide these qu ...
2018
This paper presents a novel method to perform the outlier rejection task between two different views of a camera rigidly attached to an Inertial Measurement Unit (IMU). Only two feature correspondences and gyroscopic data from IMU measurerments are used to ...
2014
Nowadays inertial sensors are extensively used for gait analysis. They can be used to perform temporal event detection (i.e. step detection) and to estimate the orientation of the feet and other body segments to determine walking speed and distance. Usuall ...
EPFL2017
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Purpose: The purpose of this study was to estimate the energy cost of linear (EC) and vertical displacement (ECvert), mechanical efficiency and main stride parameters during simulated ski mountaineering at different speeds and gradients, to identify an opt ...
Springer Verlag2016
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The present study investigates if inertial sensors could be used for reconstructing 3D full body movements in sports. On the example of alpine ski racing, it was demonstrated that inertial sensors allow computing meaningful parameters related to a skier’s ...
2015
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The present study proposes a method based on ski fixed inertial sensors to automatically compute spatio-temporal parameters (phase durations, cycle speed and cycle length) for the diagonal stride in classical cross-country skiing. The proposed system was v ...
Elsevier2015
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The integration of observations issued from a satellite-based system (GNSS) with an inertial navigation system (INS) is usually performed through a Bayesian filter such as the extended Kalman filter (EKF). The task of designing the navigation EKF is strong ...
Institute of Electrical and Electronics Engineers2014
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Despite impressive results in visual-inertial state estimation in recent years, high speed trajectories with six degree of freedom motion remain challenging for existing estimation algorithms. Aggressive trajectories feature large accelerations and rapid r ...
2019
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Inertial sensor drift is usually corrected on a single-sensor unit level. When multiple sensor units are used, mutual information from different units can be exploited for drift correction. This study introduces a method for a drift-reduced estimation of t ...
