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A Human Gait Tracking System Using Dual Foot-Mounted IMU and Multiple 2D LiDARs.

Huu Toan Duong1, Young Soo Suh1

  • 1Department of Electrical, Electronic and Computer Engineering, University of Ulsan, Ulsan 44610, Korea.

Sensors (Basel, Switzerland)
|September 9, 2022
PubMed
Summary
This summary is machine-generated.

This study introduces a human gait tracking system combining inertial measurement units (IMUs) and 2D LiDARs. The integrated system achieves accurate stride length estimation with root mean square errors under 3 cm.

Keywords:
dual foot-mounted IMUhuman gait trackingmultiple 2D LiDARsmultiple LiDARs calibration

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Area of Science:

  • Robotics and Human-Computer Interaction
  • Sensor Fusion and Navigation

Background:

  • Inertial Measurement Units (IMUs) suffer from drift errors in gait tracking.
  • 2D LiDAR systems have limited tracking range.
  • Combining IMUs and LiDARs can overcome individual sensor limitations.

Purpose of the Study:

  • To propose a robust human gait tracking system by fusing dual foot-mounted IMUs and multiple 2D LiDARs.
  • To mitigate IMU drift errors and extend LiDAR tracking range.
  • To enable accurate gait analysis without extensive calibration.

Main Methods:

  • Utilizing two 2D LiDARs as anchors to correct IMU-based inertial navigation.
  • Employing a Kalman filter and smoother algorithm to fuse sensor data.
  • Implementing a novel method for calibrating spatially separated LiDAR units.
  • Using initial LiDAR scans for IMU heading and position estimation.
  • Incorporating stride heading and step width constraints for enhanced accuracy.

Main Results:

  • The proposed system accurately tracks human gait by correcting IMU drift with LiDAR measurements.
  • Initial heading and position estimation for IMUs achieved without prior calibration.
  • Successful calibration of widely separated LiDAR sensors.
  • Stride length estimation error below 3 cm (RMSE) compared to optical systems in straight walking.
  • Validation of the system's performance in both straight and rectangular path walking scenarios.

Conclusions:

  • The dual IMU and multiple 2D LiDAR system offers a robust solution for human gait tracking.
  • Sensor fusion effectively overcomes the limitations of individual IMU and LiDAR systems.
  • The method provides accurate and reliable gait parameter estimation for various walking paths.