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Sensors 2015, 15(7), 15888-15902;

Foot Pose Estimation Using an Inertial Sensor Unit and Two Distance Sensors

Department of Electrical Engineering, University of Ulsan, Namgu, Ulsan 680-749, Korea
Author to whom correspondence should be addressed.
Academic Editor: Gert F. Trommer
Received: 22 May 2015 / Revised: 24 June 2015 / Accepted: 30 June 2015 / Published: 3 July 2015
(This article belongs to the Special Issue Inertial Sensors and Systems)
Full-Text   |   PDF [514 KB, uploaded 3 July 2015]


There are many inertial sensor-based foot pose estimation algorithms. In this paper, we present a methodology to improve the accuracy of foot pose estimation using two low-cost distance sensors (VL6180) in addition to an inertial sensor unit. The distance sensor is a time-of-flight range finder and can measure distance up to 20 cm. A Kalman filter with 21 states is proposed to estimate both the calibration parameter (relative pose of distance sensors with respect to the inertial sensor unit) and foot pose. Once the calibration parameter is obtained, a Kalman filter with nine states can be used to estimate foot pose. Through four activities (walking, dancing step, ball kicking, jumping), it is shown that the proposed algorithm significantly improves the vertical position estimation. View Full-Text
Keywords: inertial sensor; distance sensor; foot pose estimation; Kalman filters inertial sensor; distance sensor; foot pose estimation; Kalman filters
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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Duong, P.D.; Suh, Y.S. Foot Pose Estimation Using an Inertial Sensor Unit and Two Distance Sensors. Sensors 2015, 15, 15888-15902.

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