Sensor data integration for indoor human tracking

Authors:
J. A. Corrales;F. A. Candelas;F. Torres
Affiliations:
Physics, Systems Engineering and Signal Theory Department, University of Alicante, Carretera San Vicente del Raspeig s/n, 03690 San Vicente del Raspeig, Spain;Physics, Systems Engineering and Signal Theory Department, University of Alicante, Carretera San Vicente del Raspeig s/n, 03690 San Vicente del Raspeig, Spain;Physics, Systems Engineering and Signal Theory Department, University of Alicante, Carretera San Vicente del Raspeig s/n, 03690 San Vicente del Raspeig, Spain
Venue:
Robotics and Autonomous Systems
Year:
2010

Citing 8
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Abstract

A human tracking system based on the integration of the measurements from an inertial motion capture system and a UWB (Ultra-Wide Band) location system has been developed. On the one hand, the rotational measurements from the inertial system are used to track precisely all limbs of the body of the human. On the other hand, the translational measurements from both systems are combined by three different fusion algorithms (a Kalman filter, a particle filter and a combination of both) in order to obtain a precise global localization of the human in the environment. Several experiments have been performed to compare their accuracy and computational efficiency.