IMU: Difference between revisions
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==Sensor Fusion== | ==Sensor Fusion== | ||
Raw data from individual sensors can be noisy (for example accelerometers during fast movement) and inaccurate (for example gyroscopes drift). [[Sensor fusion]] algorithms, such as [[Kalman filter]]s or complementary filters, are essential.<ref name="Mahony_Filter"> Mahony, R., Hamel, T., & Pflimlin, J. M. (2008). Nonlinear Complementary Filters on the Special Orthogonal Group. IEEE Transactions on Automatic Control, 53(5), | Raw data from individual sensors can be noisy (for example accelerometers during fast movement) and inaccurate (for example gyroscopes drift). [[Sensor fusion]] algorithms, such as [[Kalman filter]]s or complementary filters, are essential.<ref name="Mahony_Filter"> Mahony, R., Hamel, T., & Pflimlin, J. M. (2008). Nonlinear Complementary Filters on the Special Orthogonal Group. IEEE Transactions on Automatic Control, 53(5), 1203-1218. [https://ieeexplore.ieee.org/document/4532514 Abstract Link]</ref> These algorithms intelligently combine the data from the accelerometers, gyroscopes (and magnetometers, if present) to produce a single, more accurate, stable, and low-latency estimate of the device's orientation in real-time. | ||
== Role in VR/AR == | == Role in VR/AR == | ||
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===6DoF Tracking Systems=== | ===6DoF Tracking Systems=== | ||
For full [[6DoF]] tracking (which includes [[positional tracking]] | For full [[6DoF]] tracking (which includes [[positional tracking]] translation along X, Y, and Z axes), IMU data is combined via sensor fusion with data from other tracking systems. These can include: | ||
* [[Inside-out tracking]]: Cameras on the HMD observe the external environment. | * [[Inside-out tracking]]: Cameras on the HMD observe the external environment. | ||
* [[Outside-in tracking]]: External sensors (like cameras or [[lighthouse tracking|base stations]]) observe markers on the HMD and controllers. | * [[Outside-in tracking]]: External sensors (like cameras or [[lighthouse tracking|base stations]]) observe markers on the HMD and controllers. | ||