Tracking sensor integration system and method for recursive estimation of pose of user's body part

A tracking sensor integration system, the system configured to:

• obtain sensor data during a plurality of time frames by a plurality of sensors attached to a wearable garment placed on a portion of a user's body;
• update a measurement gain for a current time frame of the plurality of time frames based on a portion of the sensor data collected for the current time frame and a time frame preceding the current time frame and a value of the measurement gain for the time frame preceding the current time frame;
• determine prediction for a pose of the portion of the user's body for the current time frame using sensor data collected for the current time frame and a plurality of estimation parameters for the current time frame;
• update the estimation parameters for the current time frame, based in part on the updated measurement gain and the prediction for the pose of the portion of the user's body, the estimation parameters representing weighted regressors describing a direct relation between the sensor data and the pose of the user's hand;
• and
• determine an estimated pose for the portion of the user's body for the current time frame, based in part on the updated estimation parameters and the sensor data collected for the current time frame.

A method comprising:

• obtaining sensor data during a plurality of time frames by a plurality of sensors attached to a wearable garment placed on a portion of a user's body;
• updating a measurement gain for a current time frame of the plurality of time frames based on a portion of the sensor data collected for the current time frame and a time frame preceding the current time frame and a value of the measurement gain for the time frame preceding the current time frame;
• determining prediction for a pose of the portion of the user's body for the current time frame using sensor data collected for the current time frame and a plurality of estimation parameters for the current time frame;
• updating the estimation parameters for the current time frame, based in part on the updated measurement gain and the prediction for the pose of the portion of the user's body, the estimation parameters representing weighted regressors describing a direct relation between the sensor data and the pose of the user's hand;
• and
• determining an estimated pose for the portion of the user's body for the current time frame, based in part on the updated estimation parameters and the sensor data collected for the current time frame.