ITrackU: tracking a pen-like instrument via UWB-IMU fusion
ITrackU: tracking a pen-like instrument via UWB-IMU fusion
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DOI：
10.1145/3458864.3467885
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发表时间：
2021-06
期刊：
影响因子：
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通讯作者：
Yifeng Cao;Ashutosh Dhekne;M. Ammar
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文献类型：
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作者：
Yifeng Cao;Ashutosh Dhekne;M. Ammar
在教育、机器人和艺术等广泛领域中，需要高精度跟踪笔状仪器的运动。这样做的关键挑战源于在此类仪器（笔、记号笔、手术刀等）的尖端嵌入电子设备的不切实际在本文中，我们提出了ITrackU，一个运动数字化系统，不需要修改的表面或跟踪仪器的尖端。ITrackU融合了使用超宽带无线电（UWB）获得的位置，具有惯性和磁性单元（IMU）和压力传感器，在精度，范围，成本和鲁棒性方面进行了多方面的改进。ITrackU在笔的底部嵌入了一个微型发射器，可以创建一个可跟踪的信标，该信标可以从书写表面的角落进行定位。ITrackU融合了惯性运动传感器和压力传感器，可实现精确跟踪。我们的ITrackU原型覆盖了2.5m × 2m的大面积，同时获得了约2.9mm的中值误差。我们展示了我们的系统的准确性，在白板上画出许多形状和字符，并将它们与触摸屏和基于摄像头的地面实况系统进行比较。最后，与白板的视频相比，所产生的数字化数据流的体积很小，这节省了网络带宽和存储空间。
High-precision tracking of a pen-like instrument's movements is desirable in a wide range of fields spanning education, robotics, and art, to name a few. The key challenge in doing so stems from the impracticality of embedding electronics in the tip of such instruments (a pen, marker, scalpel, etc.) as well as the difficulties in instrumenting the surface that it works on. In this paper, we present ITrackU, a movement digitization system that does not require modifications to the surface or the tracked instrument's tip. ITrackU fuses locations obtained using ultra-wideband radios (UWB), with an inertial and magnetic unit (IMU) and a pressure sensor, yielding multidimensional improvements in accuracy, range, cost, and robustness, over existing works. ITrackU embeds a micro-transmitter at the base of a pen which creates a trackable beacon, that is localized from the corners of a writing surface. Fused with inertial motion sensor and a pressure sensor, ITrackU enables accurate tracking. Our prototype of ITrackU covers a large 2.5m × 2m area, while obtaining around 2.9mm median error. We demonstrate the accuracy of our system by drawing numerous shapes and characters on a whiteboard, and compare them against a touchscreen and a camera-based ground-truthing system. Finally, the produced stream of digitized data is minuscule in volume, when compared with a video of the whiteboard, which saves both network bandwidth and storage space.