To further enhance the accuracy of human pose estimation in close proximity, several additional sensor types could be integrated into the active measurement and sensor fusion framework.
Inertial Measurement Units (IMUs): These sensors can provide valuable data on the orientation and acceleration of body parts, which can be particularly useful for tracking dynamic movements and improving pose estimation accuracy in real-time.
Depth Cameras: Although traditional RGB-D cameras have limitations in close proximity, advancements in depth sensing technology, such as structured light or time-of-flight cameras, could provide accurate depth information at closer ranges, complementing the existing sensor data.
Ultrasonic Sensors: These sensors can measure distances to nearby objects and can be used to detect the proximity of body parts, providing additional spatial information that can enhance pose estimation.
Pressure Sensors: Integrating pressure sensors into the robot's end effector can provide tactile feedback when interacting with a person, allowing the system to adjust its pose estimation based on the physical contact with the human body.
Microphones: Acoustic sensors can capture sound cues that may indicate human movement or interaction, which can be processed to infer additional context about the human's pose or actions.
By incorporating these additional sensors, the active measurement and sensor fusion framework can achieve a more comprehensive understanding of the human pose, leading to improved accuracy and robustness in various physical human-robot interaction scenarios.