Bayesian inverse kinematics: a collection of software resources for estimating kinematic chain postures from a set of noisy marker data.
Version 0.2 (2021-07-09)
A major update was made to this repository in July 2021 --- in response to Pohl et al. (2021) --- to correct errors in both the repository and the original paper (Pataky et al. 2019). The errors are summarized in a Corrigendum article (Pataky et al. 2021). A preprint version of this article is available in this repository (Corrigendum.pdf).
Major repository changes include:
- Correction of the original Appendix D. Now there is NO DIVERGENCE between B-IK and LS-IK for a simple planar mechanism.
- Addition of Appendix F. This is a new appendix which compares informative vs. vague priors on B-IK results, and which explains the previous, erroneous Appendix D results.
- Distribution of all corrected source code. Source code for the main manuscript's results was not included in the original repository due to subsequent work plans on 3D rotations. These plans have been executed, so there is no longer any need to withhold the source code.
- Distribution of all simulation data. These data were not provided in the original repository.
List of Terms:
- B-IK = Bayesian inverse kinematics
- LS-IK = Least-squares inverse kinematics
References:
Pataky TC, Vanrenterghem J, Robinson MA (2019). Bayesian inverse kinematics vs. least-squares inverse kinematics in estimates of planar postures and rotations in the absence of soft tissue artifact. Journal of Biomechanics 82(3): 324-329.
Pataky TC, Vanrenterghem J, Robinson MA (2021). Corrigendum to: Bayesian inverse kinematics vs. least-squares inverse kinematics in estimates of planar postures and rotations in the absence of soft tissue artifact. Journal of Biomechanics, in press.
Pohl AJ, Schofield MR, Ferber R (2021). Comparing the performance of Bayesian and least-squares approaches for inverse kinematics problems. Journal of Biomechanics 126: 110597.