A complementary filter design on se(3) to identify micro-motions during 3d motion tracking

Gia Hoang Phan, Clint Hansen, Paolo Tommasino, Asif Hussain, Domenico Formica, Domenico Campolo

Research output: Contribution to journalArticlepeer-review


In 3D motion capture, multiple methods have been developed in order to optimize the quality of the captured data. While certain technologies, such as inertial measurement units (IMU), are mostly suitable for 3D orientation estimation at relatively high frequencies, other technologies, such as marker-based motion capture, are more suitable for 3D position estimations at a lower frequency range. In this work, we introduce a complementary filter that complements 3D motion capture data with high-frequency acceleration signals from an IMU. While the local optimization reduces the error of the motion tracking, the additional accelerations can help to detect micro-motions that are useful when dealing with high-frequency human motions or robotic applications. The combination of high-frequency accelerometers improves the accuracy of the data and helps to overcome limitations in motion capture when micro-motions are not traceable with 3D motion tracking system. In our experimental evaluation, we demonstrate the improvements of the motion capture results during translational, rotational, and combined movements.

Original languageEnglish
Article number5864
Pages (from-to)1-15
Number of pages15
JournalSensors (Switzerland)
Issue number20
Publication statusPublished - Oct 2 2020


  • Complementary filter
  • Inertia-measurement unit
  • Load cell
  • Micro-motions
  • Motion tracking
  • SE(3)
  • Sensor fusion
  • SO(3)
  • Validation

ASJC Scopus subject areas

  • Analytical Chemistry
  • Biochemistry
  • Atomic and Molecular Physics, and Optics
  • Instrumentation
  • Electrical and Electronic Engineering

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