USE OF POSITIONING AIDING SYSTEM FOR INERTIAL MOTION CAPTURE
First Claim
1. An inertial motion capture method for determining a position of a segmented object, the method comprising:
- determining an estimate of a plurality of body segments of the object in a pre-defined coordinate system using position aiding;
deriving an inertial estimate of the plurality of body segments of the object, wherein the inertial estimates and position aiding estimates exhibit a difference there between;
resolving the difference in body segment position estimates from the inertial estimates and the position aiding estimates using constraints imposed by a biomechanical model by one or more of;
i. adjusting the estimated body segment positions,ii. adjusting the estimated body segment orientations,iii. adjusting the estimated or predefined alignment orientation between inertial sensor and body segment, in particular using a model of soft tissue deformations,iv. performing state augmentation to account for temporal or spatial measurement errors in the positioning system; and
using KiC to estimate relative segment orientations without use of magnetometers.
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Accused Products
Abstract
The invention provides robust real-time motion capture, using an inertial motion capture system, aided with a positioning system, of multiple closely interacting actors and to position the actor exactly in space with respect to a pre-defined reference frame. It is a further object of the invention to use such positioning systems to aid the inertial motion capture system that the known advantages of using inertial motion capture technology is not compromised to a great extent. Such positioning systems include pressure sensors, UWB positioning systems and GPS or other GNSS systems. It is a further object of the invention to avoid the use of the earth magnetic field as a reference direction as much as possible, due to the known problems of distortion thereof.
70 Citations
16 Claims
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1. An inertial motion capture method for determining a position of a segmented object, the method comprising:
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determining an estimate of a plurality of body segments of the object in a pre-defined coordinate system using position aiding; deriving an inertial estimate of the plurality of body segments of the object, wherein the inertial estimates and position aiding estimates exhibit a difference there between; resolving the difference in body segment position estimates from the inertial estimates and the position aiding estimates using constraints imposed by a biomechanical model by one or more of; i. adjusting the estimated body segment positions, ii. adjusting the estimated body segment orientations, iii. adjusting the estimated or predefined alignment orientation between inertial sensor and body segment, in particular using a model of soft tissue deformations, iv. performing state augmentation to account for temporal or spatial measurement errors in the positioning system; and using KiC to estimate relative segment orientations without use of magnetometers. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. An inertial motion capture method for determining a position of a segmented object having interconnected segments, each segment having an orientation and position, and having a transmitter thereon, the method comprising:
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determining segment positions and orientations based on signals received from the transmitters; calculating a deviation from the determined positions and orientation based on an interaction between the object and the signals of the sensors and the orientation and position of the transmitters with respect to the receiver; and deriving final segment position and orientation values based on the determined segment positions and orientations and the calculated deviation.
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Specification