SICE Journal of Control, Measurement, and System Integration
Online ISSN : 1884-9970
Print ISSN : 1882-4889
ISSN-L : 1882-4889
Special Issue on SICE Annual Conference 2019
Inertial Measurement Unit to Segment Calibration Based on Physically Constrained Pose Generation
Tsubasa MARUYAMAHaruki TODAWataru ISHIIMitsunori TADA
Author information

2020 Volume 13 Issue 3 Pages 122-130


The accuracy of a motion capture (MoCap) system based on inertial measurement units (IMUs) depends on the IMU-to-segment (I2S) calibration, in which the IMU alignment relative to a body segment is calculated using a reference pose such as a standing T-pose. This study proposes a novel I2S calibration system for a reliable MoCap system. In this system, the reference pose for calibration is constrained by physical objects, and this pose is generated by an optimization-based method which incorporates the IMU measurements with the physical constraints between the body and the object. To demonstrate the system, we estimated the chair-sitting and half-squat motions based on the calibration using a chair and estimated the center-of-mass movements of a rider when riding a motorcycle based on the calibration using a motorcycle. The experiments confirmed the improvements of the motion estimation accuracy by the proposed system, in both chair-sitting and half-squat motion and center-of-mass tracking of a rider. Furthermore, the proposed system enables the I2S calibration using product-use poses.

Information related to the author
© 2020 The Society of Instrument and Control Engineers
Previous article Next article