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activityrecognitionimu's Introduction

Activity recognition using IMU

1. Course materials

2. Why use quartenions

Rotation can descrbed in many ways

  • Rotation matrix: Uses 9 values to represent 3DOF. Not efficient
  • Euler angles: Not unique. Suffers from gimble lock
  • Quartenions: More stable. Uses 4 variables to represent rotation in 3D

Quartenion operations

  • Average
Q = [a_1*q_1 a_2*q_2 ... a_n*q_n]
a_1 + a_2 + ..... + a_n = 1
  • Difference between two quartenions
2*arccos|A.B|

Activity recognizition

  • Used thersholding
  • Majority voting for output on the activity over a window length
  • ML(LDA) can be applied along with gyro and quartenion derivative to remove false positives due to fast rotation

3. Run

  • filterTemplate
  • Change thersholding in filter settings

4. To do

  • Calculate and develop own quartenion algo

activityrecognitionimu's People

Contributors

mrsandipandas avatar pedro-roque avatar

Stargazers

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Watchers

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