A human motion estimation method based on GP-UKF

Ziyou Wang; Jun Kinugawa; Hongbo Wang; Kosuge Kazahiro

doi:10.1109/ICInfA.2014.6932836

A human motion estimation method based on GP-UKF

Ziyou Wang, Jun Kinugawa, Hongbo Wang, Kosuge Kazahiro

ENG - Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

6 Citations (Scopus)

Abstract

A novel human motion estimation method is presented in this paper. The motion of the human is estimated by an Unscented Kalman filter (UKF), in which a nonlinear dynamic model is used to predict trajectory of human. This dynamic model is obtained from sample data by using Gaussian Process (GP) regression. The sample data includes information of body segment posture and trajectory data collected by motion capture system. The GP-UKF can extract the underlying dynamics from the sample data, with which the future non-linear transition can be predicted. The experiment results show that the proposed method has improved accuracy over conventional method.

Original language	English
Title of host publication	2014 IEEE International Conference on Information and Automation, ICIA 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1228-1232
Number of pages	5
ISBN (Electronic)	9781479941001
DOIs	https://doi.org/10.1109/ICInfA.2014.6932836
Publication status	Published - 2014 Oct 21
Event	2014 IEEE International Conference on Information and Automation, ICIA 2014 - Hailar, Hulunbuir, China Duration: 2014 Jul 28 → 2014 Jul 30

Publication series

Name	2014 IEEE International Conference on Information and Automation, ICIA 2014

Other

Other	2014 IEEE International Conference on Information and Automation, ICIA 2014
Country	China
City	Hailar, Hulunbuir
Period	14/7/28 → 14/7/30

Keywords

GP-UKF
Gaussian Process
Motion estimation
Unscented Kalman filter

ASJC Scopus subject areas

Modelling and Simulation

Access to Document

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Cite this

Wang, Z., Kinugawa, J., Wang, H., & Kazahiro, K. (2014). A human motion estimation method based on GP-UKF. In 2014 IEEE International Conference on Information and Automation, ICIA 2014 (pp. 1228-1232). [6932836] (2014 IEEE International Conference on Information and Automation, ICIA 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICInfA.2014.6932836

A human motion estimation method based on GP-UKF. / Wang, Ziyou; Kinugawa, Jun; Wang, Hongbo; Kazahiro, Kosuge.

2014 IEEE International Conference on Information and Automation, ICIA 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 1228-1232 6932836 (2014 IEEE International Conference on Information and Automation, ICIA 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Wang, Z, Kinugawa, J, Wang, H & Kazahiro, K 2014, A human motion estimation method based on GP-UKF. in 2014 IEEE International Conference on Information and Automation, ICIA 2014., 6932836, 2014 IEEE International Conference on Information and Automation, ICIA 2014, Institute of Electrical and Electronics Engineers Inc., pp. 1228-1232, 2014 IEEE International Conference on Information and Automation, ICIA 2014, Hailar, Hulunbuir, China, 14/7/28. https://doi.org/10.1109/ICInfA.2014.6932836

Wang Z, Kinugawa J, Wang H, Kazahiro K. A human motion estimation method based on GP-UKF. In 2014 IEEE International Conference on Information and Automation, ICIA 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 1228-1232. 6932836. (2014 IEEE International Conference on Information and Automation, ICIA 2014). https://doi.org/10.1109/ICInfA.2014.6932836

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