BodySLAM: Feasibility of Tracking Human Kinematics with Simultaneous Localization and Mapping (SLAM)
Sponsor
Portland State University. Department of Electrical and Computer Engineering
First Advisor
James McNames
Term of Graduation
Spring 2023
Date of Publication
4-6-2023
Document Type
Thesis
Degree Name
Master of Science (M.S.) in Electrical and Computer Engineering
Department
Electrical and Computer Engineering
Language
English
Subjects
Wearable technology -- Evaluation, Kinematics, Human mechanics
DOI
10.15760/etd.3557
Physical Description
1 online resource (v, 36 pages)
Abstract
We evaluated a new wearable technology that fuses inertial sensors and cameras for tracking human kinematics. These devices use on-board simultaneous localization and mapping (SLAM) algorithms to localize the camera within the environment. Significance of this technology is in its potential to overcome many of the limitations of the other dominant technologies. Our results demonstrate this system often attains an estimated orientation error of less than 1° and a position error of less than 4cm as compared to a robotic arm. This demonstrates that SLAM's accuracy is adequate for many practical applications for tracking human kinematics.
Rights
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Persistent Identifier
https://archives.pdx.edu/ds/psu/40415
Recommended Citation
Laal, Sepehr, "BodySLAM: Feasibility of Tracking Human Kinematics with Simultaneous Localization and Mapping (SLAM)" (2023). Dissertations and Theses. Paper 6412.
https://doi.org/10.15760/etd.3557