ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

How can I get acceleration ground truth from VICON?

asked 2012-06-20 23:30:24 -0500

enddl22 gravatar image

updated 2012-06-20 23:34:18 -0500

Dear, ROS people.

I have a question about acceleration ground truth.

We have VICON system which can provide position and angles.

In order to obtain linear acceleration, double differentiation is applied to position data. Computed the acceleration, however, looks very noisy. I also tried to apply median filter but no success. Is there anyone who knows how to get nice acceleration like the linked paper?,%20Vicon%20vs%20Xsens%20vs%20Kionix.pdf

Maybe the possible answer would be "apply low-pass filter with 4th_order Butterworth filter with 6Hz cutoff frequency".


edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2012-06-25 02:34:04 -0500


My advice would be to capture the data by running the cameras as quickly as possible without sacrificing strobe illumination - This depends on the type of camera.

Ideally, any filter algo needs to incorporate terms for the motion model of the object being tracked. It latency is not so important, smoothing functionality is available within Vicon Tracker that implements a simple moving average smoothing algorithm, you can set the window of this filter to as many as is comfortable for your application.

Regards, Warren Lester

edit flag offensive delete link more


Thank you for your reply. I didn't quite get how to obtain ground truth acceleration from your reply. We have VICON system, it called gSpeak system that uses VICON camera but does not have Vicon Tracker unfortunately. It wraps Vicon software.

enddl22 gravatar image enddl22  ( 2012-06-25 21:05:08 -0500 )edit

We only can log position (x,y,z) and orientations (roll,pitch,yaw). It seems to apply a filter and regression to obtain acceleration and velocity. Cheers.

enddl22 gravatar image enddl22  ( 2012-06-25 21:07:17 -0500 )edit

Question Tools


Asked: 2012-06-20 23:30:24 -0500

Seen: 1,051 times

Last updated: Jun 25 '12