Design and Implementation of the MARG Human Body Motion Tracking System
Yun_IROS2004_paper.pdf (492.5Kb)Abstract
Real-time tracking of human body motion has
applications in tele-operation, synthetic reality and others.
A motion tracking system based on use of the MARG
senson has been under development at Naval Postgraduate
School and Miami University. The Magnetic, Angular Rate,
and Gravity (MARG) sensor modules use B combination of
three orthogonal magnetometers, three orthogonal angular
rate sensors, and tbree orthogonal accelerometers to
measure 3-D orientation of individual limb segments in
order to determine posture. This paper presents the latest
results of the MARG human body motion tracUng system.
The design and implementation of a Control Interface Unit
(CIU), a real-time 3-D human avatar called “Andy,” and a
concurrent client-server program are discussed.
Experimental testing and evaluation of the overall MARG
system is also presented. The system is able to track
multiple human limbs in real time. Tbe captured human
motion data can be visualired over the Internet by multiple
clients usiog the 3-0 avatar.
Rights
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