Recovery of forearm occluded trajectory in Kinect using a wrist-mounted Inertial Measurement Unit

Kinect sensor is a successful device that lets 3D human motion capture be used in a general residential setting. This work aims to fulfill some missing capabilities in Kinect, which are forearm orientation estimation and forearm tracking in occlusion. By using a wrist-mounted Inertial Measurement Unit and Kinect's built-in skeleton tracking, we have developed a fusion procedure that improves the upper limb motion tracking without adding too many obtrusive devices to the user.