Program, information processor, and information processing method

Abstract

There is provided a program, an information processor, and an information processing method that make it possible to obtain position information for sites of a body with higher accuracy. The program causes a computer to implement a correction function of referencing a first output obtained by performing a first process on sensor data acquired by two or more motion sensors attached to two or more sites of a body and a second output obtained by performing a second process on the sensor data, and correcting position information for attachment sites to which the motion sensors are attached.

1 . A non-transitory computer-readable medium having embodied thereon a program, which when executed by a computer causes the computer to execute an information processing method, the method comprising:
 estimating velocity information of a forefoot of a user and position information of the forefoot based on sensor data retrieved from a sensor attached to an ankle or a calf of the user; and   correcting the position information of the forefoot based on the estimated velocity information of the forefoot.   
     
     
         2 . The non-transitory computer-readable medium according to  claim 1 , wherein
 the position information of the forefoot is estimated from a position as viewed from a portion where the sensor is attached.   
     
     
         3 . The non-transitory computer-readable medium according to  claim 1 , wherein
 the velocity information of the forefoot and the position information of the forefoot are estimated by an inertial navigation system from a position as viewed from a portion where the sensor is attached by using acceleration data and angular velocity in a global coordinate system retrieved as the sensor data at the portion where the sensor is attached.   
     
     
         4 . The non-transitory computer-readable medium according to  claim 3 , wherein the method further comprises:
 fusion processing the acceleration data and angular velocity data at the portion where the sensor is attached, the velocity information of the forefoot, and the position information of the forefoot.   
     
     
         5 . The non-transitory computer-readable medium according to  claim 4 , wherein the method further comprises:
 outputting the corrected position information at the portion where the sensor is attached and the corrected position information of the forefoot via the fusion processing.   
     
     
         6 . The non-transitory computer-readable medium according to  claim 4 , wherein
 the fusion processing uses a Kalman filter.   
     
     
         7 . The non-transitory computer-readable medium according to  claim 1 , wherein the method further comprises:
 estimating velocity information of both forefeet, position information of both of the forefeet, and relative distance between both ankles based on sensor data retrieved from sensors attached at both of the ankles or both calves.   
     
     
         8 . The non-transitory computer-readable medium according to  claim 7 , wherein the method further comprises:
 correcting fusion processing of the estimated velocity information of both of the forefeet, the estimated position information of both of the forefeet, and the relative distance between both of the ankles.   
     
     
         9 . The non-transitory computer-readable medium according to  claim 7 , wherein
 the estimating uses machine learning.   
     
     
         10 . The non-transitory computer-readable medium according to  claim 8 , wherein the relative distance between both of the ankles is retrieved from a distance sensor. 
     
     
         11 . The non-transitory computer-readable medium according to  claim 1 , wherein the method further comprises:
 correcting and further outputting a binary label of the velocity information of the forefoot as an estimation result.   
     
     
         12 . The non-transitory computer-readable medium according to  claim 1 , wherein the method further comprises:
 correcting and further outputting a ternary or higher-valued label of the velocity information of the forefoot as an estimation result.   
     
     
         13 . The non-transitory computer-readable medium according to  claim 1 , wherein the method further comprises:
 causing an avatar to make a motion in animation by using corrected velocity information of the forefoot and the corrected position information of the forefoot.   
     
     
         14 . The non-transitory computer-readable medium according to  claim 1 , wherein the method further comprises:
 reproducing motion of an avatar's forefoot by using corrected velocity information of the forefoot and the corrected position information of the forefoot.   
     
     
         15 . The non-transitory computer-readable medium according to  claim 1 , wherein the method further comprises:
 regression estimating position information at a portion where the sensor is attached and other portions where sensors are attached in regression based on the sensor data retrieved from the portion where the sensor is attached and the other portions where the sensors are attached, and   correcting the position information at the portion where the sensor is attached and the other portions where the sensors are attached based on evaluation of the velocity information of the forefoot.   
     
     
         16 . An information processor comprising
 circuitry configured to:   estimate velocity information of a forefoot of a user and position information of the forefoot based on sensor data retrieved from a sensor attached to an ankle or a calf of the user; and   correct the position information of the forefoot based on the estimated velocity information of the forefoot.   
     
     
         17 . An information processing method comprising:
 estimating velocity information of a forefoot of a user and position information of the forefoot based on sensor data retrieved from a sensor attached to an ankle or a calf of the user; and   correcting the position information of the forefoot based on the estimated velocity information of the forefoot.