Estimating Lower Limb Kinematics using a Lie Group Constrained EKF and a Reduced Wearable IMU Count.
Luke Wicent SyNigel H. LovellStephen J. RedmondPublished in: CoRR (2019)
Keyphrases
- lie group
- lie algebra
- infinite dimensional
- inertial sensors
- parameter space
- euclidean space
- vector space
- extended kalman filter
- lagrange multipliers
- joint angles
- gesture recognition
- geometric structure
- mean shift
- kalman filter
- riemannian manifolds
- linear transformation
- vector field
- covariance matrices
- inverse kinematics
- position and orientation
- kalman filtering
- data points
- motion analysis
- covariance matrix
- euclidean distance