Enhanced movement tracking with Kinect supported by high-precision sensors

The paper presents a proposal of sensor fusion combining data derived from a Kinect device and high-precision sensors. The main idea was to enhance the tracking of a human arm in order to obtain precise coordinates. The Kinect plays the role of a calibration device and sensors´ data are used in kinematics equations for enhanced tracking of the arm. This way the resulting information has less uncertainty and can be directly transmitted to another system, e.g. robotics one. The system has been implemented using kinematics-based approach with transformation operators as well as quaternions. In terms of accuracy the main result is that the Kinect performs very similar with sensors.