mimu_optical_sassari_dataset
- Citation Author(s):
-
Marco Caruso
(Politecnico di Torino)
Andrea Cereatti
(University of Sassari)
Ugo Della Croce
(University of Sassari)
- Submitted by:
- Marco Caruso
- Last updated:
- DOI:
- 10.21227/b23b-rx94
- Data Format:
- Research Article Link:
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Abstract
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.
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
Instructions:
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 in the dataset description document 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
04/05/2020
