Tracking Human Motion With Multichannel Interacting Multiple Model

Abstract

Tracking human motion with multiple body sensors has the potential to promote a large number of applications such as detecting patient motion, and monitoring for home-based applications. With multiple sensors, the tracking system architecture and data processing cannot perform the expected outcomes because of the limitations of data association. For the collaborative and intelligent applications of motion tracking (Polhemus Liberty AC magnetic tracker), we propose a human motion tracking system with multichannel interacting multiple model estimator (MC-IMME). To figure out interactive relationships among distributed sensors, we used a Gaussian mixture model (GMM) for clustering. With a collaborative grouping method based on GMM and expectation-maximization algorithm for distributed sensors, we can estimate the interactive relationship with multiple body sensors and achieve the efficient target estimation to employ a tracking relationship within a cluster. Using multiple models with filter divergence, the proposed MC-IMME can achieve the efficient estimation of the measurement and the velocity from measured datasets of human sensory data. We have newly developed MC-IMME to improve overall performance with a Markov switch probability and a proper grouping method. The experiment results shows that the prediction overshoot error can be improved on average by 19.31% by employing a tracking relationship.