mimu_optical_datase​t_caruso_sassari

バージョン 5.0 (37.7 MB) 作成者: Marco Caruso
This repository contains the magneto-inertial signals from six MIMU and ground truth orientation + positions from 8 reflective markers

ダウンロード 30 件

更新 2021/4/28

GitHub から

GitHub でライセンスを表示

This dataset provides the magneto-inertial signals from six MIMU (2 Xsens, 2 APDM, 2 Shimmer) and orientation from 8 reflective markers (VICON) at 3 different speeds (slow, medium, fast). Marker trajectories are provided. Proprietary orientations from MIMU vendors are also included. All data are synchronized at 100 Hz.

Xsens - MTx = XS1, XS2
APDM - Opal = AP1, AP2
Shimmer - Shimmer3 = SH1, SH2

For each MIMU dataset (XS1, XS2, AP1, AP2, SH1, SH2):
columns 1 = time vector (or packet counter vector)
columns 2:4 = accelerometer data (x,y,z) (m/s^2)
columns 5:7 = gyroscope data (x,y,z) (rad/s)
columns 8:10 = magnetometer data (x,y,z) (a.u.)
columns 11:14 = proprietary orientation
Mrks matrix contains the trajectories of the eight markers (mm). Please, refer to the figure for the labelling:
Mrks(:,1) # frame
Mrks(:,2:4) Mrk1
Mrks(:,5:7) Mrk4
Mrks(:,8:10) Mrk3
Mrks(:,11:13) Mrk5
Mrks(:,14:16) Mrk2
Mrks(:,17:19) M0
Mrks(:,20:22) Mx
Mrks(:,23:25) My


Rotations sequence are in the timeframe contained in indz (first rotation), indx (second rotation), indy (third rotation), and indarb (3D rotation).
Qs (q0, qx, qy, qz) is the orientation obtained by applying the SVD technique to eight marker position data [A. Cappozzo, A. Cappello, U. D. Croce, and F. Pensalfini, “Surface-marker cluster design criteria for 3-d bone movement reconstruction,” IEEE Trans. Biomed. Eng., vol. 44, no. 12, pp. 1165–1174, 1997]
wVicon is the angular velocity obtained by Qs [Chardonnens, J.; Favre, J.; Aminian, K. An effortless procedure to align the local frame of an inertial measurement unit to the local frame of another motion capture system. J. Biomech. 2012,45, 2297–300.]

When using this dataset, please cite: M. Caruso, A. M. Sabatini, M. Knaflitz, M. Gazzoni, U. D. Croce and A. Cereatti, "Orientation Estimation Through Magneto-Inertial Sensor Fusion: A Heuristic Approach for Suboptimal Parameters Tuning," in IEEE Sensors Journal, vol. 21, no. 3, pp. 3408-3419, 1 Feb.1, 2021, doi: 10.1109/JSEN.2020.3024806.

https://ieeexplore.ieee.org/document/9201115

Marco Caruso - Politecnico di Torino
marco.caruso@polito.it
28/04/2021

This dataset can be also found at: https://ieee-dataport.org/documents/mimuopticalsassaridataset

引用

Marco Caruso (2022). mimu_optical_dataset_caruso_sassari (https://github.com/marcocaruso/mimu_optical_dataset_caruso_sassari/releases/tag/v5.0), GitHub. 取得済み .

MATLAB リリースの互換性
作成: R2021a
すべてのリリースと互換性あり
プラットフォームの互換性
Windows macOS Linux

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!
この GitHub アドオンでの問題を表示または報告するには、GitHub リポジトリにアクセスしてください。
この GitHub アドオンでの問題を表示または報告するには、GitHub リポジトリにアクセスしてください。