Automatic Joint Parameter Estimation from Magnetic Motion Capture Data

摘要: This paper describes a technique for using magnetic motion capture data to determine the joint parameters of an articulated hierarchy. makes it possible limb lengths, locations, and sensor placement human subject without external measurements. Instead, are inferred with high accuracy from acquired during session. The computed by performing linear least squares fit rotary model input data. A hierarchical structure can also be determined in situations where topology is not known. Once system have been recovered, resulting used perform forward inverse kinematic procedures. We present results algorithm on data, as well validation obtained simulation wooden linkage known dimensions.