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This repository provides the source code for a foot-tracking algorithm using an inertial measurement unit (IMU) attached to the foot, as demonstrated in Seb Madgwick’s “3D Tracking with IMU” video (March 2011). The method performs dead reckoning to integrate foot motion and corrects for drift at each foot strike (when the foot touches the ground) to reset error accumulation. The algorithm was part of gait analysis research, estimating foot trajectories in 3D over time. The repo is marked “no longer maintained,” and has been superseded by newer versions of Gait-Tracking. Capability to compare walking trajectories in experiments. Integration of IMU data (accelerometer + gyroscope).
Features
- Dead reckoning of foot position using IMU data
- Drift correction at each foot-ground contact event
- 3D foot trajectory estimation
- Integration of IMU data (accelerometer + gyroscope)
- Example / reference implementation of gait tracking
- Capability to compare walking trajectories in experiments
Project Samples
Categories
AlgorithmsFollow Gait Tracking With x-IMU
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