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A Methodology for the Performance Evaluation of Inertial Measurement Units |
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| Authors: | Salvatore Sessa Massimiliano Zecca Zhuohua Lin Luca Bartolomeo Hiroyuki Ishii Atsuo Takanishi |
| Affiliation: | 1. Graduate School of Creative Science and Engineering, Waseda University, TWIns - Room 03 C-301, 2-2 Wakamatsu-cho, Shinjuku-ku, Tokyo, 168-8480, Japan 3. School of Creative Science and Engineering, Waseda University, Nishi-Waseda Campus 51-409 3-4-1 Okubo, Shinjuku-ku, Tokyo, 169-8555, Japan 5. HRI - Humanoid Robotics Institute, Waseda University, 41-2-04A, Kikui-cho Shinjuku-ku, Tokyo, 162-0044, Japan 6. Italy-Japan Joint Laboratory on Humanoid and Personal Robotics “RoboCasa”, Waseda University, TWIns - Room 03 C-301, 2-2 Wakamatsu-cho, Shinjuku-ku, Tokyo, 168-8480, Japan 7. Global Robot Academia, Waseda University, Nishi-Waseda Campus 59-309, 3-4-1, Okubo, Shinjuku, Tokyo, 169-8555, Japan 2. Graduate School of Advanced Science and Engineering, Waseda University, TWIns - Room 03 C-301, 2-2 Wakamatsu-cho, Shinjuku-ku, Tokyo, 168-8480, Japan 8. Waseda Research Institute for Science and Engineering, Waseda University, TWIns - Room 03 C-301, 2-2 Wakamatsu-cho, Shinjuku-ku, Tokyo, 168-8480, Japan 4. Department of Modern Mechanical Engineering, Waseda University, TWIns - Room 03 C-202, 2-2 Wakamatsu-cho, Shinjuku-ku, Tokyo, 168-8480, Japan |
| Abstract: | This paper presents a methodology for a reliable comparison among Inertial Measurement Units or attitude estimation devices in a Vicon environment. The misalignment among the reference systems and the lack of synchronization among the devices are the main problems for the correct performance evaluation using Vicon as reference measurement system. We propose a genetic algorithm coupled with Dynamic Time Warping (DTW) to solve these issues. To validate the efficacy of the methodology, a performance comparison is implemented between the WB-3 ultra-miniaturized Inertial Measurement Unit (IMU), developed by our group, with the commercial IMU InertiaCube3? by InterSense. |
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