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Robust Tracking of Periodic Motion in the Plane using Inertial Sensor Data
Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Systems and Control. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Automatic control.ORCID iD: 0000-0002-6916-4148
Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Systems and Control. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Automatic control.ORCID iD: 0000-0001-8185-3117
2017 (English)In: Proceedings of IEEE Sensors 2017, Glasgow, Scotland: IEEE, 2017, p. 1041-1043Conference paper, Published paper (Refereed)
Abstract [en]

We propose a robust method for estimating the orientation and displacement of an inertial measurement unit undergoing planar periodic motion. Such movements is a common approximation to human gait and running. We formulate the problem introducing a sparse vector of outlier errors and l1-regularization. The problem thus becomes robust to outliers in the data. The problem can be rewritten as a quadratic programming problem which can be solved efficiently using existing software for convex optimization.

Place, publisher, year, edition, pages
Glasgow, Scotland: IEEE, 2017. p. 1041-1043
Series
IEEE Sensors, ISSN 1930-0395
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:uu:diva-334069DOI: 10.1109/ICSENS.2017.8234223ISI: 000427677500351ISBN: 978-1-5090-1012-7 (electronic)OAI: oai:DiVA.org:uu-334069DiVA, id: diva2:1158632
Conference
IEEE Sensors 2017, 29 Oct - 01 Nov 2017, Glasgow, United Kingdom
Funder
Swedish Research Council, 2015-05054Available from: 2017-11-20 Created: 2017-11-20 Last updated: 2018-08-10Bibliographically approved

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Halvorsen, KjartanOlsson, Fredrik
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