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In this paper we present a novel Gaussian Process (GP) prior model-based sensor fusion approach to dealing with position uncertainty and lag in a system composed of an external position sensing device (Kinect) and inertial sensors embedded in a mobile device for user performance improvement. To test the approach, we conducted two experiments: (1) GPs sensor fusion simulation. Experimental results show that the novel GP sensor fusion helps improve the accuracy of position estimation, and reduce the lag (0.11 s). (2) User study on a trajectory-based target acquisition task in a spatially aware display application. We implemented the real-time sensor fusion system by augmenting the Kinect with a Nokia N9. In the trajectory-based interaction experiment, each user performed target selection tasks following a trajectory in (a) the Kinect system and (b) the sensor fusion system. In comparison with the Kinect time-delay system, our system enables the user to perform the task easier and faster. The MSE of target selection was reduced by 38.3 % and the average task completion time was reduced by 26.7 %.

Position stabilisation and lag reduction with Gaussian processes in sensor fusion system for user performance improvement