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cs.RO2026
Calibration-free IMU-based Relative Orientation Estimation under Dynamic Human Motion
Ruiyuan Li, Hassan Osman, Ajay Seth +1
Recent magnetometer-free inertial measurement unit (IMU) methods can reduce drift in joint motion estimation using rigid-body constraints, but they typically require pre-calibrated…
cs.RO2025
A Tightly Coupled IMU-Based Motion Capture Approach for Estimating Multibody Kinematics and Kinetics
Hassan Osman, Daan de Kanter, Jelle Boelens +2
Inertial Measurement Units (IMUs) enable portable, multibody motion capture (MoCap) in diverse environments beyond the laboratory, making them a practical choice for diagnosing mob…