Robust Tracking of Periodic Motion in the Plane using Inertial Sensor Data

• We propose a robust method for estimating the orientation and displacement of an inertial measurement unit undergoing planar periodic motion. Such movements is a common approximation to human gait and running. We formulate the problem introducing a sparse vector of outlier errors and l1-regularization. The problem thus becomes robust to outliers in the data. The problem can be rewritten as a quadratic programming problem which can be solved efficiently using existing software for convex optimization.

Subject headings

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Annan elektroteknik och elektronik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Other Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)

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