Estimating Lower Limb Kinematics using a Lie Group Constrained EKF and a Reduced Wearable IMU Count.
Luke Wicent SyNigel H. LovellStephen J. RedmondPublished in: BioRob (2020)
Keyphrases
- lie group
- lie algebra
- inertial sensors
- joint angles
- extended kalman filter
- covariance matrices
- parameter space
- euclidean space
- kalman filter
- infinite dimensional
- vector field
- vector space
- geometric structure
- linear transformation
- kalman filtering
- covariance matrix
- mean shift
- lagrange multipliers
- gesture recognition
- degrees of freedom
- maximum likelihood