Hybrid tracking of human operators using IMU/UWB data fusion by a Kalman filter
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Título: | Hybrid tracking of human operators using IMU/UWB data fusion by a Kalman filter |
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Autor/es: | Corrales Ramón, Juan Antonio | Candelas-Herías, Francisco A. | Torres, Fernando |
Grupo/s de investigación o GITE: | Automática, Robótica y Visión Artificial |
Centro, Departamento o Servicio: | Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal |
Palabras clave: | Motion capture | Inertial sensors | UWB | Human tracking and monitoring | Indoor location | Data fusion | Kalman filter |
Área/s de conocimiento: | Ingeniería de Sistemas y Automática |
Fecha de publicación: | 2008 |
Editor: | Association for Computing Machinery |
Cita bibliográfica: | 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 |
Resumen: | 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. |
Patrocinador/es: | 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 |
Idioma: | eng |
Tipo: | info:eu-repo/semantics/bookPart |
Derechos: | © 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 |
Revisión científica: | si |
Versión del editor: | http://dx.doi.org/10.1145/1349822.1349848 |
Aparece en las colecciones: | INV - AUROVA - Comunicaciones a Congresos Internacionales |
Archivos en este ítem:
Archivo | Descripción | Tamaño | Formato | |
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HRI 2008_Hybrid_Tracking.pdf | Versión final (acceso restringido) | 1,87 MB | Adobe PDF | Abrir Solicitar una copia |
hri231-corrales.pdf | Versión revisada (acceso libre) | 1,86 MB | Adobe PDF | Abrir Vista previa |
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