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Best Axes Composition Extended: Multiple Gyroscopes and Accelerometers Data Fusion to Reduce Systematic Error [article]

Marsel Faizullin, Gonzalo Ferrer
2022 arXiv   pre-print
We show that BAC outperforms the latter and achieves up to 20% accuracy improvement for both orientation and position estimation in open loop, but needs proper treatment to keep the obtained gain.  ...  In this paper, we propose a method, the Best Axes Composition (BAC) of combining Multiple IMU (MIMU) sensors data for accurate 3D-pose estimation that takes into account both random and systematic errors  ...  As a result for the third stage, we have prepared accurate distributed IMU ( 26 ), ( 34 ) for open-loop orientation and position estimation.  ... 
arXiv:2209.08895v1 fatcat:jp6qic6srngc7jy7gabvg5dndi

Relative Pose Estimation Algorithm with Gyroscope Sensor

Shanshan Wei, Zhiqiang He, Wei Xie
2016 Journal of Sensors  
Our contributions are in two aspects. (1) Under the circumstance that no inertial sensor can estimate accurately enough translation parameter, we propose a translation estimation algorithm by fusing gyroscope  ...  S2fM employs gyroscopes to estimate camera rotation parameter, which is later fused with the image data to estimate camera translation parameter.  ...  Considering that rotation can be estimated fast and accurately by gyroscopes but there are no proper sensors to estimate translation accurately enough for CPE application; this paper proposes a visual  ... 
doi:10.1155/2016/8923587 fatcat:bhybwjzubzd3ppk5orzet3grsa

Orientation Capture of a Walker's Leg Using Inexpensive Inertial Sensors with Optimized Complementary Filter Design

Sebastian Andersson, Liu Yan
2015 International Journal of Advanced Computer Science and Applications  
However, by using the right values, a fairly accurate orientation of the leg can be estimated which is proved by the simple visualization of the iOS application.  ...  The results shows how the orientation estimation differs in accuracy depending on different values of how the filter is designed.  ...  To make the orientation estimation as accurate as possible, data is combined from both accelerometer and gyroscope sensors by using a complementary filter.  ... 
doi:10.14569/ijacsa.2015.060125 fatcat:agde55gkcffx5eddztjw3xjjym

Real-time Control System for Various Applications using Sensor Fusion Algorithm

E. Artemciukas, R. Plestys, A. Andziulis, K. Gerasimov, E. Zulkas, L. Pasviestis, A. Krauze
2012 Elektronika ir Elektrotechnika  
Accelerometer data read and accelerometer with gyroscope fusion algorithm results were compared and simple 3D visualization was presented to verify and visually demonstrate the efficiency of proposed real-time  ...  Therefore, the prototype of real-time control system was designed using sensor fusion algorithm that ensures accurate various systems controls with minimal computing resources.  ...  Nevertheless, by averaging and combining accelerometers and gyroscopes data it is possible to obtain accurate data estimation for real-time control system, than we would obtain using sensors separately  ... 
doi:10.5755/j01.eee.18.10.3064 fatcat:bwgptvp5kjdxpkcgx2fnrzgxyq

Online calibration and synchronization of cellphone camera and gyroscope

Chao Jia, Brian L. Evans
2013 2013 IEEE Global Conference on Signal and Information Processing  
The fusion of gyroscope and visual measurements needs the knowledge of camera projection parameters, the gyroscope bias and the relative orientation between gyroscope and camera.  ...  Gyroscope is playing a key role in helping estimate camera rotation during mobile video capture.  ...  The estimate of the relative orientation qc is not as accurate as in the running sequence, which we believe is caused by the single form of motion (panning).  ... 
doi:10.1109/globalsip.2013.6736995 dblp:conf/globalsip/JiaE13 fatcat:yoginyhojzfchj2q7iy7vn6ozm

Calib-Net: Calibrating the Low-Cost IMU via Deep Convolutional Neural Network

Ruihao Li, Chunlian Fu, Wei Yi, Xiaodong Yi
2022 Frontiers in Robotics and AI  
Following a carefully designed mathematical calibration model, Calib-Net can output compensation components for gyroscope measurements dynamically.  ...  the results from visual inertial odometry (VIO) systems.  ...  ACKNOWLEDGMENTS The authors would like to thank Martin Brossard for his kindly help and insightful discussion.  ... 
doi:10.3389/frobt.2021.772583 pmid:35047565 pmcid:PMC8762311 fatcat:pnpocu7tibb5vofi3xb4p2prfe

Estimation and Visualization of Sagittal Kinematics of Lower Limbs Orientation Using Body-Fixed Sensors

H. Dejnabadi, B.M. Jolles, E. Casanova, P. Fua, K. Aminian
2006 IEEE Transactions on Biomedical Engineering  
A new method of estimating lower limbs orientations using a combination of accelerometers and gyroscopes is presented.  ...  Index Terms-Accelerometer and gyroscope, ambulatory system, gait analysis, visualization.  ...  Poloni for their assistance in collecting the data.  ... 
doi:10.1109/tbme.2006.873678 pmid:16830942 fatcat:kcaytmhui5getco3ajcqx6jvoi

Pose estimation algorithm for mobile augmented reality based on inertial sensor fusion

Mir Suhail Alam, Malik Arman Morshidi, Teddy Surya Gunawan, Rashidah Funke Olanrewaju, Fatchul Arifin
2022 International Journal of Power Electronics and Drive Systems (IJPEDS)  
The algorithm used for feature detection and description is oriented FAST rotated BRIEF (ORB), whereas to evaluate the homography for pose estimation, <a name="_Hlk100294718"></a>random sample consensus  ...  Furthermore, gyroscope sensor data is incorporated with the vision-based pose estimation.  ...  In the MAR application, gyroscopes can assist in recording the changes in the target's orientation to estimate the pose accurately and precisely augment the 3D object on a target surface.  ... 
doi:10.11591/ijece.v12i4.pp3620-3631 fatcat:wgkp4mskhrhrbhxhnumtjhwgfi

Tracking in unprepared environments for augmented reality systems

Ronald Azuma, Jong Weon Lee, Bolan Jiang, Jun Park, Suya You, Ulrich Neumann
1999 Computers & graphics  
One of the key requirements for accomplishing this illusion is a tracking system that accurately measures the position and the orientation of the observer's location in space.  ...  For traditional AR applications, such as medical visualization and display manufacturing instructions, this assumption is reasonable. But many other potential AR applications  ...  This corrects the gyroscope drift at every video frame, but now visual errors can affect the orientation estimate, so the visual feature tracking must be robust.  ... 
doi:10.1016/s0097-8493(99)00104-1 fatcat:6dcypbdpt5f4xaz5fcmzmbfm5a

An Analysis on Position Estimation, Drifting and Accumulated Error Accuracy during 3D Tracking in Electronic Handheld Devices

Shanjidah Akhter, Pahlwan Rabiul Islam, Latifun Ahsin Bhuiyan, Mehedi Hasan, A. F. M. Saifuddin Saif
2018 Journal of Computer and Communications  
Research studies till date on estimating position and localization and tracking have been thoroughly reviewed to find the appropriate algorithm which will provide accurate result with minimum drift error  ...  Motivation of this research comes from the idea of using different types of sensors which exist in our smartphones such as accelerometer, gyroscope, magnetometer etc. to track the position for painting  ...  The system is made using Kalman filter for fusion of Differential GPS (DGPS) or Real Time Kinematic (RTK) for AR (Augmented Reality) and IMU with visual orientation tracker.  ... 
doi:10.4236/jcc.2018.64006 fatcat:3k6a3jx4tramrnzencnwg7r46m

Inertial Measurement Unit Sensors in Assistive Technologies for Visually Impaired People, a Review

Karla Miriam Reyes Leiva, Milagros Jaén-Vargas, Benito Codina, José Javier Serrano Olmedo
2021 Sensors  
have allowed the estimation of kinematic parameters and biomechanical analysis for different field of applications.  ...  A diverse array of assistive technologies have been developed to help Visually Impaired People (VIP) face many basic daily autonomy challenges.  ...  The author Milagros Jaén-Vargas would like to thank the Secretaria Nacional de Ciencia y Tecnología SENACYT for her scholarship in the IFARHU-SENACYT program.  ... 
doi:10.3390/s21144767 fatcat:i27n7543ovfsdbmyuv523cqlry

Best Axes Composition: Multiple Gyroscopes IMU Sensor Fusion to Reduce Systematic Error [article]

Marsel Faizullin, Gonzalo Ferrer
2021 arXiv   pre-print
In this paper, we propose an algorithm to combine multiple cheap Inertial Measurement Unit (IMU) sensors to calculate 3D-orientations accurately.  ...  Our algorithm, the Best Axes Composition (BAC), chooses dynamically the most fitted axes among IMUs to improve the estimation performance.  ...  As a result for the third stage, we have prepared accurate distributed IMU (24) for open-loop orientation estimation. D.  ... 
arXiv:2107.02632v2 fatcat:52pn3iq22ngghmstfvmgqehrlq

Exploring multi-dimensional data on mobile devices with single hand motion and orientation gestures

Jesse Thomason, Jingtao Wang
2012 Proceedings of the 14th international conference on Human-computer interaction with mobile devices and services companion - MobileHCI '12  
Inspired by Elmqivist et al's recent work, SDM uses the gyroscope sensor available on mobile devices to establish an orientation aware "dice rolling" metaphor for browsing scatterplot matrix visualizations  ...  ScatterDice Mobile (SDM) is a novel visualization system that leverages embodied motion and orientation gestures for intuitive and effective exploration of multidimensional data on mobile devices.  ...  SDM uses the gyroscope sensor recently available on mobile devices to establish an orientation aware "dice rolling" metaphor for browsing scatterplot matrix visualizations mapped to a cube on mainstream  ... 
doi:10.1145/2371664.2371702 dblp:conf/mhci/ThomasonW12 fatcat:fmow3kro65czzitbtgnv3j52ui

LGC-Net: A Lightweight Gyroscope Calibration Network for Efficient Attitude Estimation [article]

Yaohua Liu, Wei Liang, Jinqiang Cui
2022 arXiv   pre-print
The estimated orientation with our LGC-Net is comparable with the top-ranked visual-inertial odometry systems, although it does not adopt vision sensors.  ...  This paper presents a lightweight, efficient calibration neural network model for denoising low-cost microelectromechanical system (MEMS) gyroscope and estimating the attitude of a robot in real-time.  ...  ACKNOWLEDGMENT The authors are very grateful to Martin Brossard for the open-source code and the results of attitude estimation.  ... 
arXiv:2209.08816v1 fatcat:3fbfumb2l5fk3dq6zlq3ab7gxe

Pose Estimation of a Mobile Robot Based on Fusion of IMU Data and Vision Data Using an Extended Kalman Filter

Mary Alatise, Gerhard Hancke
2017 Sensors  
accurate position for an autonomous mobile robot.  ...  The inertial measurement unit (IMU) used for this practical work is the new Arduino 101 microcontroller which has both accelerometer and gyroscope compacted into the same device to give accurate results  ...  Acknowledgments: The authors would like to appreciate the anonymous reviewers for their valuable comments that contributed to improving this paper.  ... 
doi:10.3390/s17102164 pmid:28934102 pmcid:PMC5676736 fatcat:nrpyadgcx5gmzciq7lycpqnrum
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