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Abstract
Motion capture setups are used in numerous fields. Studies based on motion capture data can be found in biomechanical, sport or animal science. Clinical science studies include gait analysis as well as balance, posture and motor control. Robotic applications encompass object tracking. Today’s life applications includes entertainment or augmented reality. Still, few studies investigate the positioning performance of motion capture setups. In this paper, we study the positioning performance of one player in the optoelectronic motion capture based on markers: Vicon system. Our protocol includes evaluations of static and dynamic performances. Mean error as well as positioning variabilities are studied with calibrated ground truth setups that are not based on other motion capture modalities. We introduce a new setup that enables directly estimating the absolute positioning accuracy for dynamic experiments contrary to state-of-the art works that rely on inter-marker distances. The system performs well on static experiments with a mean absolute error of 0.15 mm and a variability lower than 0.025 mm. Our dynamic experiments were carried out at speeds found in real applications. Our work suggests that the system error is less than 2 mm. We also found that marker size and Vicon sampling rate must be carefully chosen with respect to the speed encountered in the application in order to reach optimal positioning performance that can go to 0.3 mm for our dynamic study.
Highlights
Developed for gait analysis [1], robotics applications such as UAVs (Unmanned AerialVehicle) extensively use Vicon (Oxford, UK) systems
Studies on quadrotor UAVs [3,4,5,6] use Vicon equipped arenas for purposes such as ground truth for positioning, 3D reconstruction or real-time control given the position estimated by the motion capture system
Vicon is one of the key players in optoelectronic motion capture systems based on markers
Summary
Developed for gait analysis [1], robotics applications such as UAVs Chiari et al [9] proposes a survey of gait analysis instrumental errors Their survey shows that inter-distance measurements between markers have extensively been used as the accuracy and precision measurements. The inter-marker distance variability was used to assess the performance of the motion capture devices as no positioning ground truth is used. Contrary to state-of-the art papers, we do not use inter-distance but propose a new framework that relies on marker positioning errors to evaluate the optoelectronic motion capture devices. Vicon motion capture device in a framework corresponding to mobile robotic environment contrary to the state-of-the art papers. Experiments are conducted with both static and dynamic objects with a ground truth positioning setup that does not use motion capture. The static studies was performed with a robot operating 3D motions
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