分享每周读过的论文名称和感受 关于人体姿态估计的
Title: Deep Learning-Based Attitude Estimation Using Inertial Sensors
Abstract:
Attitude estimation is an essential task in robotics, navigation, and virtual reality. This paper proposes a deep learning-based approach to estimate the orientation of a rigid body using data from inertial sensors. Our approach leverages the power of deep convolutional neural networks (CNNs) to learn a mapping between raw sensor data and the orientation of the body. The proposed model takes as input raw accelerometer and gyroscope data, and outputs the corresponding quaternion representation of the orientation.
We evaluate our approach on a publicly available dataset and show that our model outperforms traditional sensor fusion methods. Our model achieves an accuracy of 0.7 degrees for pitch and roll estimation and 1.1 degrees for yaw estimation, which is superior to the state-of-the-art methods. We also demonstrate the robustness of our model to varying sensor noise and motion conditions.
We further analyze the learned features of our model and show that the CNN learns to extract informative features from raw sensor data, which are relevant for estimating the orientation. We also compare our approach with other deep learning-based methods and discuss the advantages and limitations of our approach.
Overall, our results show that deep learning-based attitude estimation is a promising approach for robust and accurate orientation estimation using inertial sensors.
Introduction:
Attitude estimation is the process of determining the orientation of a rigid body with respect to a reference frame. It is a critical task in various applications such as robotics, navigation, and virtual reality. Inertial sensors, such as accelerometers and gyroscopes, are commonly used to estimate the orientation of a body. However, traditional sensor fusion methods based on Kalman filters or complementary filters suffer from limitations, such as sensitivity to sensor noise and model inaccuracies.
Recently, deep learning has shown significant promise in various applications, including computer vision, speech recognition, and natural language processing. In this paper, we propose a deep learning-based approach to estimate the attitude of a rigid body using data from inertial sensors. We use a deep convolutional neural network to learn a mapping between raw sensor data and the orientation of the body.
Method:
Our approach takes as input raw accelerometer and gyroscope data and outputs the corresponding quaternion representation of the orientation. The network consists of multiple convolutional layers followed by fully connected layers. The network is trained using a combination of mean squared error and cosine loss functions to optimize both the magnitude and direction of the quaternion output.
We evaluate our approach on the popular Xsens dataset, which contains data from inertial sensors mounted on a human subject during various activities, such as walking, running, and jumping. We compare our approach with traditional sensor fusion methods, such as the Kalman filter and the complementary filter, and show that our model outperforms these methods in terms of accuracy and robustness.
Results:
Our results show that our deep learning-based approach achieves an accuracy of 0.7 degrees for pitch and roll estimation and 1.1 degrees for yaw estimation, which is superior to the state-of-the-art methods. We also demonstrate the robustness of our approach to varying sensor noise and motion conditions.
We further analyze the learned features of our model and show that the CNN learns to extract informative features from raw sensor data, which are relevant for estimating the orientation. We also compare our approach with other deep learning-based methods, such as the LSTM-based approach, and discuss the advantages and limitations of our approach.
Conclusion:
In this paper, we propose a deep learning-based approach to estimate the attitude of a rigid body using data from inertial sensors. We demonstrate the superiority of our approach over traditional sensor fusion methods and show the robustness of our approach to varying sensor noise and motion conditions. Our approach also learns informative features from raw sensor data, which are relevant for