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This paper introduces a new approach to 3-D position estimation fromacceleration data, i.e., a 3-D motion tracking system having a small size andlow-cost magnetic and inertial measurement unit (MIMU) composed by both adigital compass and a gyroscope as interaction technology. A major challenge isto minimize the error caused by the process of double integration ofaccelerations due to motion (these ones have to be separated from theaccelerations due to gravity). Owing to drift error, position estimation cannotbe performed with adequate accuracy for periods longer than few seconds. Forthis reason, we propose a method to detect motion stops and only integrateaccelerations in moments of effective hand motion during the demonstrationprocess. The proposed system is validated and evaluated with experimentsreporting a common daily life pick-and-place task.

3-D position estimation from inertial sensing: minimizing the error from the process of double integration of accelerations