Human Tracking using Wearable Sensors in the Pocket


Human tracking with wearable sensors such as Inertial Measurement Unit (IMU) is of great significance for ubiquitous computing and ambient applications. This paper proposes a novel Dead Reckoning based tracking algorithm using IMUs placed in the pocket. The contribution of our approach lies in three-folds: (1) Precise steps are detected according to people's repetitive moving patterns. (2) In each step, heading direction is estimated by the principle frequency of filtered acceleration. (3) Rather than inferring the heading direction of each step independently, we compute a vector in the IMU coordinates which can be transformed to the world coordinates to represent the heading direction, by solving an optimization problem with all historical tracking data considered. The proposed tracking algorithm is tested on a public dataset and outperforms five state-of-the-arts. We also apply it to real scenarios where our IMU tracking algorithm successfully assists visual tracking to overcome the challenging visual occlusion problems.

Meeting Name

IEEE Global Conference on Signal and Information Processing, GlobalSIP 2015 (2015: Dec. 13-16, Orlando)


Computer Science

Keywords and Phrases

Information Science; Navigation; Optimization; Tracking (Position); Ubiquitous Computing; Units of Measurement; Wearable Technology; Dead Reckoning; Filtered Acceleration; Heading Directions; Human Tracking; Inertial Measurement Unit; Optimization Problems; Tracking Algorithm; Visual Occlusions; Wearable Sensors

International Standard Book Number (ISBN)


Document Type

Article - Conference proceedings

Document Version


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© 2016 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.

Publication Date

01 Feb 2016