Diver posture estimation and visualization Sample Clauses

Diver posture estimation and visualization. In order to estimate the orientation of each body part, a complementary filter described in [1] is used. This filter was chosen over often used Kalman filter-based solutions as it has shown to perform with similar accuracy, but has a much lower computational cost. After the absolute orientation of each individual body part is calculated, this data is fused in a complete model, where the orientations are translated from absolute to relative, and this data is used to visualize the model. The entire processing is done in ROS in C++, and Rviz is used for visualization. Fig.
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