Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 1 of 1
Full-Text Articles in Engineering
Hand Motion Tracking System Using Inertial Measurement Units And Infrared Cameras, Nonnarit O-Larnnithipong
Hand Motion Tracking System Using Inertial Measurement Units And Infrared Cameras, Nonnarit O-Larnnithipong
FIU Electronic Theses and Dissertations
This dissertation presents a novel approach to develop a system for real-time tracking of the position and orientation of the human hand in three-dimensional space, using MEMS inertial measurement units (IMUs) and infrared cameras. This research focuses on the study and implementation of an algorithm to correct the gyroscope drift, which is a major problem in orientation tracking using commercial-grade IMUs. An algorithm to improve the orientation estimation is proposed. It consists of: 1.) Prediction of the bias offset error while the sensor is static, 2.) Estimation of a quaternion orientation from the unbiased angular velocity, 3.) Correction of the …