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Predictive head movement tracking using a Kalman filter

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3 Author(s)
A. Kiruluta ; Inst. of Biomed. Eng., Toronto, Ont., Canada ; M. Eizenman ; S. Pasupathy

The use of head movements in control applications leaves the hands free for other tasks and utilizes the mobility of the head to acquire and track targets over a wide field of view. We present the results of applying a Kalman filter to generate prediction estimates for tracking head positions. A simple kinematics approach based on the assumption of a piecewise constant acceleration process is suggested and is shown to track head positions with an rms error under 2° for head movements with accelerations smaller than 3000°/s. To account for the wide range of head dynamic characteristics, an adaptive approach with input estimation is developed. The performance of the Kalman filter is compared to that based on a simple polynomial predictor

Published in:

IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)  (Volume:27 ,  Issue: 2 )