Please use this identifier to cite or link to this item: http://dx.doi.org/10.14279/depositonce-12240
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dc.contributor.authorLaidig, Daniel-
dc.contributor.authorCaruso, Marco-
dc.contributor.authorCereatti, Andrea-
dc.contributor.authorSeel, Thomas-
dc.date.accessioned2021-07-26T12:48:18Z-
dc.date.available2021-07-26T12:48:18Z-
dc.date.issued2021-06-27-
dc.identifier.urihttps://depositonce.tu-berlin.de/handle/11303/13454-
dc.identifier.urihttp://dx.doi.org/10.14279/depositonce-12240-
dc.description.abstractInertial measurement units (IMUs) enable orientation, velocity, and position estimation in several application domains ranging from robotics and autonomous vehicles to human motion capture and rehabilitation engineering. Errors in orientation estimation greatly affect any of those motion parameters. The present work explains the main challenges in inertial orientation estimation (IOE) and presents an extensive benchmark dataset that includes 3D inertial and magnetic data with synchronized optical marker-based ground truth measurements, the Berlin Robust Orientation Estimation Assessment Dataset (BROAD). The BROAD dataset consists of 39 trials that are conducted at different speeds and include various types of movement. Thereof, 23 trials are performed in an undisturbed indoor environment, and 16 trials are recorded with deliberate magnetometer and accelerometer disturbances. We furthermore propose error metrics that allow for IOE accuracy evaluation while separating the heading and inclination portions of the error and introduce well-defined benchmark metrics. Based on the proposed benchmark, we perform an exemplary case study on two widely used openly available IOE algorithms. Due to the broad range of motion and disturbance scenarios, the proposed benchmark is expected to provide valuable insight and useful tools for the assessment, selection, and further development of inertial sensor fusion methods and IMU-based application systems.en
dc.description.sponsorshipDFG, 414044773, Open Access Publizieren 2021 - 2022 / Technische Universität Berlinde
dc.language.isoenen
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/en
dc.subject.ddc620 Ingenieurwissenschaften und zugeordnete Tätigkeitende
dc.subject.otherinertial sensoren
dc.subject.otherinertial measurement uniten
dc.subject.otherorientation estimationen
dc.subject.otherattitude estimationen
dc.subject.othermagnetic disturbancesen
dc.subject.otherbenchmark dataseten
dc.titleBROAD—A Benchmark for Robust Inertial Orientation Estimationen
dc.typeArticleen
dc.date.updated2021-07-19T12:46:08Z-
tub.accessrights.dnbfreeen
tub.publisher.universityorinstitutionTechnische Universität Berlinen
dc.identifier.eissn2306-5729-
dc.type.versionpublishedVersionen
dcterms.bibliographicCitation.doi10.3390/data6070072en
dcterms.bibliographicCitation.journaltitleDataen
dcterms.bibliographicCitation.originalpublisherplaceBaselen
dcterms.bibliographicCitation.volume6en
dcterms.bibliographicCitation.originalpublishernameMDPIen
dcterms.bibliographicCitation.issue7en
dcterms.bibliographicCitation.articlenumber72en
tub.affiliationFak. 4 Elektrotechnik und Informatik » Inst. Energie- und Automatisierungstechnik » FG Regelungssystemede
Appears in Collections:Technische Universität Berlin » Publications

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