MagShield: Towards Better Robustness in Sparse Inertial Motion Capture Under Magnetic Disturbances

TL;DR

MagShield is a new method that improves the robustness of sparse inertial motion capture systems against magnetic disturbances by detecting and correcting orientation errors using motion priors.

Contribution

It introduces MagShield, a novel detect-then-correct approach that enhances motion capture accuracy in magnetically disturbed environments.

Findings

Significantly improves motion capture accuracy under magnetic interference.

Compatible with various sparse inertial MoCap systems.

Demonstrates robustness in real-world magnetic disturbance scenarios.

Abstract

This paper proposes a novel method called MagShield, designed to address the issue of magnetic interference in sparse inertial motion capture (MoCap) systems. Existing Inertial Measurement Unit (IMU) systems are prone to orientation estimation errors in magnetically disturbed environments, limiting their practical application in real-world scenarios. To address this problem, MagShield employs a "detect-then-correct" strategy, first detecting magnetic disturbances through multi-IMU joint analysis, and then correcting orientation errors using human motion priors. MagShield can be integrated with most existing sparse inertial MoCap systems, improving their performance in magnetically disturbed environments. Experimental results demonstrate that MagShield significantly enhances the accuracy of motion capture under magnetic interference and exhibits good compatibility across different sparse inertial MoCap systems.