{"id":"https://openalex.org/W4281385482","doi":"https://doi.org/10.23919/acc53348.2022.9867745","title":"Invariant Extended Kalman Filtering for Human Motion Estimation with Imperfect Sensor Placement","display_name":"Invariant Extended Kalman Filtering for Human Motion Estimation with Imperfect Sensor Placement","publication_year":2022,"publication_date":"2022-06-08","ids":{"openalex":"https://openalex.org/W4281385482","doi":"https://doi.org/10.23919/acc53348.2022.9867745"},"language":"en","primary_location":{"id":"doi:10.23919/acc53348.2022.9867745","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc53348.2022.9867745","pdf_url":null,"source":{"id":"https://openalex.org/S4363607732","display_name":"2022 American Control Conference (ACC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2205.10236","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065754009","display_name":"Ze\u2010Nan Zhu","orcid":"https://orcid.org/0000-0002-8281-6147"},"institutions":[{"id":"https://openalex.org/I133738476","display_name":"University of Massachusetts Lowell","ror":"https://ror.org/03hamhx47","country_code":"US","type":"education","lineage":["https://openalex.org/I133738476"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Zenan Zhu","raw_affiliation_strings":["University of Massachusetts Lowell,College of Engineering,Lowell,MA,USA,01854"],"affiliations":[{"raw_affiliation_string":"University of Massachusetts Lowell,College of Engineering,Lowell,MA,USA,01854","institution_ids":["https://openalex.org/I133738476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030056444","display_name":"Seyed Mostafa Rezayat Sorkhabadi","orcid":"https://orcid.org/0000-0002-0813-3436"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Seyed Mostafa Rezayat Sorkhabadi","raw_affiliation_strings":["Arizona State University,The Polytechnic School, Ira A. Fulton Schools of Engineering,Mesa,AZ,USA,85212"],"affiliations":[{"raw_affiliation_string":"Arizona State University,The Polytechnic School, Ira A. Fulton Schools of Engineering,Mesa,AZ,USA,85212","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017020566","display_name":"Yan Gu","orcid":"https://orcid.org/0000-0001-6584-2741"},"institutions":[{"id":"https://openalex.org/I133738476","display_name":"University of Massachusetts Lowell","ror":"https://ror.org/03hamhx47","country_code":"US","type":"education","lineage":["https://openalex.org/I133738476"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yan Gu","raw_affiliation_strings":["University of Massachusetts Lowell,College of Engineering,Lowell,MA,USA,01854"],"affiliations":[{"raw_affiliation_string":"University of Massachusetts Lowell,College of Engineering,Lowell,MA,USA,01854","institution_ids":["https://openalex.org/I133738476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100453347","display_name":"Wenlong Zhang","orcid":"https://orcid.org/0000-0002-4046-2213"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wenlong Zhang","raw_affiliation_strings":["Arizona State University,The Polytechnic School, Ira A. Fulton Schools of Engineering,Mesa,AZ,USA,85212"],"affiliations":[{"raw_affiliation_string":"Arizona State University,The Polytechnic School, Ira A. Fulton Schools of Engineering,Mesa,AZ,USA,85212","institution_ids":["https://openalex.org/I55732556"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5065754009"],"corresponding_institution_ids":["https://openalex.org/I133738476"],"apc_list":null,"apc_paid":null,"fwci":2.6292,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.87068966,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3012","last_page":"3018"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11196","display_name":"Non-Invasive Vital Sign Monitoring","score":0.9939000010490417,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9883999824523926,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7429237961769104},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6249006390571594},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6128119230270386},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5863091349601746},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.547653317451477},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5074722170829773},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4844910800457001},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4573670029640198},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.4513886272907257},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.41394883394241333},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3987758755683899},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3978351652622223},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21910360455513},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.18898683786392212},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.13164278864860535},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.0982140600681305}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7429237961769104},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6249006390571594},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6128119230270386},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5863091349601746},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.547653317451477},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5074722170829773},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4844910800457001},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4573670029640198},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.4513886272907257},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.41394883394241333},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3987758755683899},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3978351652622223},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21910360455513},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.18898683786392212},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.13164278864860535},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0982140600681305},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/acc53348.2022.9867745","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc53348.2022.9867745","pdf_url":null,"source":{"id":"https://openalex.org/S4363607732","display_name":"2022 American Control Conference (ACC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 American Control Conference (ACC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2205.10236","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2205.10236","pdf_url":"https://arxiv.org/pdf/2205.10236","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2205.10236","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2205.10236","pdf_url":"https://arxiv.org/pdf/2205.10236","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G283187856","display_name":"CHS: Medium: Collaborative Research: Fabric-Embedded Dynamic Sensing for Adaptive Exoskeleton Assistance","funder_award_id":"1955979","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5599505380","display_name":null,"funder_award_id":"1944833","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5954070948","display_name":null,"funder_award_id":"CMMI-","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G598597956","display_name":null,"funder_award_id":"CMMI-1944833","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7323085365","display_name":null,"funder_award_id":"CMMI-2046562","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8272925683","display_name":"CAREER: A Hybrid Filtering and Robust Control Framework for Legged Robot Locomotion on Dynamic Rigid Surfaces","funder_award_id":"2046562","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8341819622","display_name":null,"funder_award_id":"1756031","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G848032724","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8670819146","display_name":null,"funder_award_id":"IIS-1955979","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320337391","display_name":"Division of Civil, Mechanical and Manufacturing Innovation","ror":"https://ror.org/028yd4c30"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4281385482.pdf"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W1943808550","https://openalex.org/W1981277868","https://openalex.org/W2017249007","https://openalex.org/W2049135373","https://openalex.org/W2059744080","https://openalex.org/W2061640077","https://openalex.org/W2079251198","https://openalex.org/W2148720991","https://openalex.org/W2163839940","https://openalex.org/W2246023205","https://openalex.org/W2289521934","https://openalex.org/W2505173351","https://openalex.org/W2735057174","https://openalex.org/W2801220594","https://openalex.org/W2936887342","https://openalex.org/W2944662892","https://openalex.org/W3000247354","https://openalex.org/W3000625188","https://openalex.org/W3161227055","https://openalex.org/W3166418858","https://openalex.org/W3176104382","https://openalex.org/W3205724045","https://openalex.org/W4206499684","https://openalex.org/W4235721526","https://openalex.org/W4289145348","https://openalex.org/W6756279856","https://openalex.org/W6797707439"],"related_works":["https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W2951795132","https://openalex.org/W4312092966","https://openalex.org/W2755286209","https://openalex.org/W4367281123","https://openalex.org/W3153542184","https://openalex.org/W4387452254","https://openalex.org/W4387559098"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,60],"new":[4],"invariant":[5,126],"extended":[6],"Kalman":[7],"filter":[8,40,76,90,146],"design":[9],"that":[10,79],"produces":[11],"real-time":[12],"state":[13,36,136],"estimates":[14],"and":[15,34,59,106,129,159],"rapid":[16],"error":[17,96,109],"convergence":[18,142],"for":[19],"the":[20,23,29,42,53,74,84,89,93,108,111,115,135,144],"estimation":[21,37,161],"of":[22,31,63,73,143],"human":[24],"body":[25,54],"movement":[26],"even":[27,153],"in":[28,78,110],"presence":[30],"sensor":[32],"misalignment":[33],"initial":[35,160],"errors.":[38,162],"The":[39,70],"fuses":[41],"data":[43],"returned":[44],"by":[45,97],"an":[46,125],"inertial":[47],"measurement":[48,62,116],"unit":[49],"(IMU)":[50],"attached":[51],"to":[52],"(e.g.,":[55],"pelvis":[56],"or":[57],"chest)":[58],"virtual":[61],"zero":[64],"stance-foot":[65],"velocity":[66],"(i.e.,":[67,120],"leg":[68,112],"odometry).":[69],"key":[71],"novelty":[72],"proposed":[75,145],"lies":[77],"its":[80,99,131],"process":[81,101],"model":[82,102,117],"meets":[83],"group":[85],"affine":[86],"property":[87],"while":[88],"explicitly":[91],"addresses":[92],"IMU":[94,156],"placement":[95,157],"formulating":[98],"stochastic":[100],"as":[103],"Brownian":[104],"motions":[105,152],"incorporating":[107],"odometry.":[113],"Although":[114],"is":[118],"imperfect":[119],"it":[121],"does":[122],"not":[123],"possess":[124],"observation":[127],"form)":[128],"thus":[130],"linearization":[132],"relies":[133],"on":[134],"estimate,":[137],"experimental":[138],"results":[139],"demonstrate":[140],"fast":[141],"(within":[147],"0.2":[148],"seconds)":[149],"during":[150],"squatting":[151],"under":[154],"significant":[155],"inaccuracy":[158]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}