Inertial motion tracking using sensor saturation compensation with l 1 norm regularization

Abstract

A smoother is proposed for inertial sensor-based motion tracking, where the sensor saturation is compensated. The sensor saturation estimation term is added using l 1 norm regularization techniques to the standard smoothing problem. The proposed algorithm is in the form of a quadratic optimization problem. Three slightly different methods are proposed, where the geometric models on sensor saturation are slightly different. Through simulation and experiments, it is shown that the proposed method effectively compensates the sensor saturation.