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Cited by 20Inertial Sensor and NavigationVirtual Reality Applications and ImpactsGaze Tracking and Assistive Technology

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A Multiple Model Approach to Track Head Orientation With Delta Quaternions

Himberg, Henry, Motai, Yuichi, Bradley, Arthur·2013·IEEE Transactions on Cybernetics
DOI 10.1109/tsmcb.2012.2199311
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Abstract

Virtual reality and augmented reality environments using helmet-mounted displays create a sense of immersion by closely coupling user head motion to display content. Delays in the presentation of visual information can destroy the sense of presence in the simulation environment when it causes a lag in the display response to user head motion. The effect of display lag can be minimized by predicting head orientation, allowing the system to have sufficient time to counteract the delay. In this paper, anew head orientation prediction technique is proposed that uses a multiple delta quaternion (DQ) extended Kalman filter to track angular head velocity and angular head acceleration. This method is independent of the device used for orientation measurement, relying on quaternion orientation as the only measurement data. A new orientation prediction algorithm is proposed that estimates future head orientation as a function of the current orientation measurement and a predicted change in orientation, using the velocity and acceleration estimates. Extensive experimentation shows that the new method improves head orientation prediction when compared to single filter DQ prediction.

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References 43 · Cited by 20

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Metadata

Authors
Himberg, H., Motai, Y., & Bradley, A.
Affiliations
  • Virginia Commonwealth University (US)
  • Langley Research Center (US)
ORCID
Motai, Yuichi
Venue
IEEE Transactions on Cybernetics
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Published
2013-02
Volume
43
Issue
1
Pages
90-101
ISSN
  • 2168-2267 (ISSN-L)
  • 2168-2275
DOI
10.1109/tsmcb.2012.2199311
OpenAlex
W2058477454
Cited by
20
References
43
Citations by year
2022: 1 · 2021: 1 · 2020: 2 · 2019: 3 · 2018: 1 · 2017: 2 · 2016: 3 · 2015: 4 · 2014: 1 · 2013: 2
FWCI
3.77
Type
journal article
Language
en
Open access
closed
Locations
  • IEEE Transactions on Cybernetics (publishedVersion)
  • PubMed (publishedVersion)
Funders
Else Kröner-Fresenius-Stiftung
Topics
  • Physical Sciences › Engineering › Aerospace Engineering › Inertial Sensor and Navigation
  • Physical Sciences › Computer Science › Human-Computer Interaction › Virtual Reality Applications and Impacts
  • Physical Sciences › Computer Science › Human-Computer Interaction › Gaze Tracking and Assistive Technology
Keywords
multiple model estimation, extended Kalman filter, helmet-mounted displays, virtual reality, augmented reality, angular velocity estimation, angular acceleration estimation

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CoChat. (2026). Citation check: A Multiple Model Approach to Track Head Orientation With Delta Quaternions. https://app.cochat.ai/papers/10.1109/tsmcb.2012.2199311
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Himberg, H., Motai, Y., & Bradley, A. (2013). A Multiple Model Approach to Track Head Orientation With Delta Quaternions. IEEE Transactions on Cybernetics. https://doi.org/10.1109/tsmcb.2012.2199311