Abstract
The authors aim to develop a method of dog's velocity estimation from the sensors put on the dog's vest, on rubbles and stairs. Accurate velocity data enable us to obtain dog's running distance, its pose, and its continuous trajectory. These data are important to analyze and visualize the search and rescue dog's activities. This paper describes dog's motion analysis on the rubbles and stairs and proposed a velocity estimation method based on the dog's gait. The propose method allows us to increase accuracy of the dog's velocity from the ground velocity data and estimate a dog's velocity from the sensors put on the dog's vest.
