Motion Signals With Velocity Jumps: Velocity Estimation Employing Only Quantized Position Data

@article{Rijnen2018MotionSW,
  title={Motion Signals With Velocity Jumps: Velocity Estimation Employing Only Quantized Position Data},
  author={Mark Rijnen and Alessandro Saccon and Henk Nijmeijer},
  journal={IEEE Robotics and Automation Letters},
  year={2018},
  volume={3},
  pages={1498-1505}
}
This letter addresses the problem of causal velocity estimation of motion signals exhibiting sudden velocity changes. It is explicitly assumed that only sampled quantized position data are available, and that no dynamic system model is at hand, to allow for an effective solution with minimal a priori information. Our solution consists of a finite-response filter with adaptive window length and a velocity jump detection algorithm. A velocity jump is detected when the difference between sampled… CONTINUE READING

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