Stabilizing Skeletal Pose Estimation using mmWave Radar via Dynamic Model and Filtering

Shuting Hu, Arindam Sengupta, Siyang Cao

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

In this paper, we illustrate a method to stabilize the position estimation of human skeleton using mmWave radar. In our previous study, an optimized CNN architecture was used to extract the positions of human skeleton accurately. However, the position estimation of the joints vibrates over time. In the field of digital signal processing, filters are used to remove unwanted parts of signal and widely applied in noise reduction, radar, audio and video processing, etc. In this paper, three types of filters i.e. Elliptic, Savitzky-Golay, and Whittaker-Eilers are discussed and applied to both positions and angles of the human skeleton. This paper further presents a humanoid robotics dynamic model, specifically forward kinematics, to recalculate joint positions with improved stability. We define the root joint, a world coordinate system, and 'T' pose, to get the subsequent joints' rotation matrix using kinematics chain of the skeleton, then compute the Euler angles. After the filtering, we compare the effect of different filters using a method of Standard Deviation (SD) of the angle slope. In addition, we analyze the change of localization accuracy after recalculating the positions using forward kinematics based on the current angle, root position, and bone length information. The data collection and experimental evaluation have shown a motion stability improvement of 54.05% compared to the CNN predicted value.

Original languageEnglish (US)
Title of host publicationBHI-BSN 2022 - IEEE-EMBS International Conference on Biomedical and Health Informatics and IEEE-EMBS International Conference on Wearable and Implantable Body Sensor Networks, Symposium Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781665487917
DOIs
StatePublished - 2022
Event2022 IEEE-EMBS International Conference on Biomedical and Health Informatics, BHI 2022 - Ioannina, Greece
Duration: Sep 27 2022Sep 30 2022

Publication series

NameBHI-BSN 2022 - IEEE-EMBS International Conference on Biomedical and Health Informatics and IEEE-EMBS International Conference on Wearable and Implantable Body Sensor Networks, Symposium Proceedings

Conference

Conference2022 IEEE-EMBS International Conference on Biomedical and Health Informatics, BHI 2022
Country/TerritoryGreece
CityIoannina
Period9/27/229/30/22

Keywords

  • digital signal filters
  • humanoid robotics dynamic model
  • mmWave radar
  • skeleton estimation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Information Systems
  • Information Systems and Management
  • Biomedical Engineering
  • Instrumentation

Fingerprint

Dive into the research topics of 'Stabilizing Skeletal Pose Estimation using mmWave Radar via Dynamic Model and Filtering'. Together they form a unique fingerprint.

Cite this