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首页> 外文会议>IEEE/RSJ International Conference on Intelligent Robots and Systems >Whole-body pose estimation in physical rider-bicycle interactions with a monocular camera and a set of wearable gyroscopes
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Whole-body pose estimation in physical rider-bicycle interactions with a monocular camera and a set of wearable gyroscopes

机译：单眼相机和一组可穿戴陀螺仪在物理骑行-自行车交互中的全身姿势估计

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摘要

We report the development of a human whole-body pose estimation scheme with application to rider-bicycle interactions. The estimation scheme is built on the fusion of measurements of a monocular camera on the bicycle and a set of small wearable gyroscopes attached to the rider's upper- and lower-limb and the trunk. A single feature point is collocated with each wearable gyroscope and also on the segment link where the gyroscope is not attached. An extended Kalman filter is designed to fuse the vision-inertial measurements to obtain accurate whole-body poses. The estimation design also incorporates a set of constraints from human anatomy and the physical rider-bicycle interactions. We demonstrate and compare the performance of the estimation design through multiple subjects riding experiments.
机译：我们报告了人类的全身姿势估计方案的发展与骑手-自行车相互作用的应用。估算方案基于自行车单眼相机的测量值和一组安装在骑行者上肢和下肢以及后备箱上的小型可穿戴陀螺仪的融合。每个可穿戴陀螺仪以及未连接陀螺仪的线段链接上都设有一个特征点。扩展的卡尔曼滤波器设计用于融合视觉惯性测量以获得准确的全身姿势。估算设计还结合了来自人体解剖学和身体骑行者-自行车相互作用的一组约束。我们通过多个骑乘实验演示并比较了估算设计的性能。

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