{"id":"https://openalex.org/W2794378256","doi":"https://doi.org/10.1109/lra.2018.2800084","title":"Augmented Human State Estimation Using Interacting Multiple Model Particle Filters With Probabilistic Data Association","display_name":"Augmented Human State Estimation Using Interacting Multiple Model Particle Filters With Probabilistic Data Association","publication_year":2018,"publication_date":"2018-01-31","ids":{"openalex":"https://openalex.org/W2794378256","doi":"https://doi.org/10.1109/lra.2018.2800084","mag":"2794378256"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2800084","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2800084","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://zenodo.org/record/3493738","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026055366","display_name":"Georgia Chalvatzaki","orcid":"https://orcid.org/0000-0002-5055-199X"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Georgia Chalvatzaki","raw_affiliation_strings":["School of Electrical and Computer Engineering, National Technical University of Athens, Zografou, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, National Technical University of Athens, Zografou, Greece","institution_ids":["https://openalex.org/I174458059"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002110022","display_name":"Xanthi S. Papageorgiou","orcid":"https://orcid.org/0000-0003-2579-8648"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Xanthi S. Papageorgiou","raw_affiliation_strings":["School of Electrical and Computer Engineering, National Technical University of Athens, Zografou, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, National Technical University of Athens, Zografou, Greece","institution_ids":["https://openalex.org/I174458059"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075518884","display_name":"Costas S. Tzafestas","orcid":"https://orcid.org/0000-0003-1545-9191"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Costas S. Tzafestas","raw_affiliation_strings":["School of Electrical and Computer Engineering, National Technical University of Athens, Zografou, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, National Technical University of Athens, Zografou, Greece","institution_ids":["https://openalex.org/I174458059"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079243420","display_name":"Petros Maragos","orcid":"https://orcid.org/0000-0003-0534-2707"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Petros Maragos","raw_affiliation_strings":["School of Electrical and Computer Engineering, National Technical University of Athens, Zografou, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, National Technical University of Athens, Zografou, Greece","institution_ids":["https://openalex.org/I174458059"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I174458059"],"apc_list":null,"apc_paid":null,"fwci":1.8434,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.84386582,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"3","issue":"3","first_page":"1872","last_page":"1879"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12740","display_name":"Gait Recognition and Analysis","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12740","display_name":"Gait Recognition and Analysis","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10444","display_name":"Context-Aware Activity Recognition Systems","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6534785628318787},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6095096468925476},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5903798341751099},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5480688810348511},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.5459602475166321},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5262032151222229},{"id":"https://openalex.org/keywords/hidden-markov-model","display_name":"Hidden Markov model","score":0.5012354850769043},{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.49729517102241516},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4775862693786621},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.43502703309059143},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.4271843433380127},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.33827415108680725},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.287231981754303},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.22052615880966187}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6534785628318787},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6095096468925476},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5903798341751099},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5480688810348511},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.5459602475166321},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5262032151222229},{"id":"https://openalex.org/C23224414","wikidata":"https://www.wikidata.org/wiki/Q176769","display_name":"Hidden Markov model","level":2,"score":0.5012354850769043},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.49729517102241516},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4775862693786621},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43502703309059143},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.4271843433380127},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33827415108680725},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.287231981754303},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.22052615880966187},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2018.2800084","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2800084","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:zenodo.org:3493738","is_oa":true,"landing_page_url":"https://zenodo.org/record/3493738","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:3493738","is_oa":true,"landing_page_url":"https://zenodo.org/record/3493738","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.4699999988079071}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1967769980","https://openalex.org/W1970030681","https://openalex.org/W2028790734","https://openalex.org/W2034579881","https://openalex.org/W2066832919","https://openalex.org/W2098985691","https://openalex.org/W2099019320","https://openalex.org/W2104232570","https://openalex.org/W2109347872","https://openalex.org/W2109609054","https://openalex.org/W2115732804","https://openalex.org/W2125838338","https://openalex.org/W2127652728","https://openalex.org/W2127976441","https://openalex.org/W2139261979","https://openalex.org/W2140216284","https://openalex.org/W2152669093","https://openalex.org/W2153131046","https://openalex.org/W2160337655","https://openalex.org/W2256127205","https://openalex.org/W2322772590","https://openalex.org/W2479812003","https://openalex.org/W2558776914","https://openalex.org/W2736959877","https://openalex.org/W2771109797","https://openalex.org/W2775662284","https://openalex.org/W3033479605","https://openalex.org/W4251960031","https://openalex.org/W6676208019","https://openalex.org/W6692039027","https://openalex.org/W6779276871"],"related_works":["https://openalex.org/W2130674020","https://openalex.org/W2093748878","https://openalex.org/W2333771223","https://openalex.org/W2120056845","https://openalex.org/W2115214301","https://openalex.org/W2070318884","https://openalex.org/W1981531423","https://openalex.org/W4236844032","https://openalex.org/W3156454664","https://openalex.org/W3205608944"],"abstract_inverted_index":{"The":[0,117,149,197,228],"accurate":[1,254],"human":[2,66,100,113,258],"gait":[3,48,67,101,114,118,211,259],"tracking":[4,68],"is":[5,172],"an":[6,82,111],"important":[7],"factor":[8],"for":[9,88,110,230],"various":[10,194],"robotic":[11,15,165],"applications,":[12],"such":[13],"as":[14,126],"walkers":[16],"aiming":[17],"to":[18,21,44,55,98,205,216,241,249,252],"provide":[19,56,253],"assistance":[20],"patients":[22],"with":[23,81,123,189,261],"different":[24,220],"mobility":[25,195],"impairment,":[26],"social":[27],"robot":[28,33],"companions,":[29],"etc.":[30],"A":[31,168],"context-aware":[32],"control":[34],"architecture":[35],"needs":[36],"constant":[37],"knowledge":[38],"of":[39,92,106,143,219,222,237,265],"the":[40,46,93,99,104,107,124,132,137,141,144,201,210,217,226,231,235,238],"user's":[41],"kinematic":[42],"state":[43,115,119,212],"assess":[45],"patient's":[47],"status":[49],"and":[50,76,103,207,209,255],"adjust":[51],"its":[52,250],"movement":[53],"properly":[54],"optimal":[57],"assistance.":[58],"In":[59],"this":[60,153],"letter,":[61],"we":[62],"present":[63],"a":[64,89,127,158,164,179,245,262],"novel":[65],"approach":[69],"that":[70,130,140],"uses":[71],"two":[72],"particle":[73],"filters":[74],"(PFs)":[75],"probabilistic":[77],"data":[78,151,177],"association":[79],"(PDA)":[80],"interacting":[83],"multiple":[84],"model":[85,96],"(IMM)":[86],"scheme":[87],"real-time":[90,246],"selection":[91],"appropriate":[94],"motion":[95,180],"according":[97],"analysis":[102,199],"use":[105],"Viterbi":[108],"algorithm":[109,240],"augmented":[112,257],"estimation.":[116],"estimates":[120,260],"also":[121],"interact":[122],"IMM":[125],"prior":[128],"information":[129],"drives":[131],"Markov":[133],"sampling":[134],"process,":[135],"while":[136],"PDA":[138],"ensures":[139],"legs":[142],"same":[145],"person":[146],"are":[147,155],"coupled.":[148],"observation":[150],"in":[152,186,225,244],"work":[154],"provided":[156],"by":[157],"laser":[159],"range":[160],"finder":[161],"mounted":[162],"on":[163],"assistant":[166],"walker.":[167],"detailed":[169],"experimental":[170],"validation":[171,198],"presented":[173,193],"using":[174],"ground":[175],"truth":[176],"from":[178],"capture":[181],"system,":[182],"which":[183],"was":[184],"used":[185,224,243],"real":[187],"experiments":[188],"elder":[190,232],"subjects":[191,233],"who":[192],"impairments.":[196],"regards":[200],"algorithm's":[202],"accuracy,":[203],"robustness":[204],"occlusions":[206],"clutter,":[208],"classification":[213],"success,":[214],"subject":[215],"effect":[218],"number":[221,264],"samples":[223],"PFs.":[227],"results":[229],"show":[234],"dynamics":[236],"proposed":[239],"be":[242],"application":[247],"due":[248],"efficacy":[251],"robust":[256],"small":[263],"particles.":[266]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":4}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}