A Fast Quaternion-Based Orientation Optimizer via Virtual Rotation for Human Motion Tracking
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Bibliographic record
Abstract
For real-time ambulatory human motion tracking with low-cost inertial/magnetic sensors, a computationally efficient and robust algorithm for estimating orientation is critical. This paper presents a quaternion-based orientation optimizer for tracking human body motion, using triaxis rate gyro, accelerometer, and magnetometer signals. The proposed optimizer uses a Gauss-Newton (G-N) method for finding the best-fit quaternion. In order to decrease the computing time, the optimizer is formulated using a virtual rotation concept that allows very fast quaternion updates compared to the conventional G-N method. In addition, to guard against the effects of fast body motions and temporary ferromagnetic disturbances, a situational measurement vector selection procedure is adopted in conjunction with the G-N optimizer. The accuracy of orientation estimates is validated experimentally, using arm motion trials.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it