# CoWear：面向多智能设备协作式可穿戴惯性定位

> 原文链接：https://robotics.hellobike.com/papers/2026-10-14-2610-20596
> 频道：papers | 更新日期：2026-10-14 | 标签：arxiv, cs.RO
> 核心摘要：CoWear面向异构可穿戴惯性定位，提供同步数据集与不确定性融合框架，并在手机、手表、眼镜参考目标上验证。

# CoWear：面向多智能设备协作式可穿戴惯性定位

::: v-pre
> 原文链接：[CoWear: Towards Collaborative Wearable Inertial Localization with Multiple Smart Devices](https://arxiv.org/abs/2610.20596)（arXiv 2610.20596 · 发布日期：2026-10-14）

**CoWear: Towards Collaborative Wearable Inertial Localization with Multiple Smart Devices**

CoWear面向异构可穿戴惯性定位，提供同步数据集与不确定性融合框架，并在手机、手表、眼镜参考目标上验证。

## 核心要点

- 现有惯性定位基准少有同步异构可穿戴设备及设备级运动真值。
- 数据集涵盖手机、手表和智能眼镜，设备轨迹均由动捕单独跟踪。
- 方法训练角色特定估计器预测共同参考位移，经陀螺积分变换并按学习不确定性融合。
- 实验显示多设备融合相较单设备估计，持续提升位移和轨迹 rollout 精度。

**验证范围与局限**：验证范围为手机、智能手表和智能眼镜采集的步行会话，参考目标为这三类设备。

## 英文摘要 (Abstract)

Consumer smart devices observe the same human motion from different body locations, yet existing inertial-localization benchmarks rarely provide synchronized heterogeneous wearables with device-specific motion ground truth. We present CoWear, a dataset and reference framework for collaborative inertial localization using a smartphone, smartwatch, and smart glasses. The dataset contains over 30 participants, over 300 walking sessions, and more than 30 hours and 100 km of aggregate device trajectories, with each device individually tracked by motion capture. To enable collaboration across distinct body motions, we train role-specific estimators to predict the displacement of a common reference device over synchronized temporal windows. Their predictions are transformed to the world frame using gyroscope integration and fused according to learned uncertainty. Experiments using phone, glasses, and watch as reference targets show that multi-device fusion consistently improves both displacement and trajectory rollout accuracy over individual-device estimation. CoWear provides a dataset and reproducible baseline for studying collaborative inertial localization across heterogeneous consumer wearables.

作者：Zhuoyuan She, Zhanpeng Zhang, Yapeng Chen, Jiale Wang, Xin Xie, Ming Xia
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## 原始参考来源 (Sources)

- [arXiv 2610.20596：CoWear: Towards Collaborative Wearable Inertial Localization with Multiple Smart Devices](https://arxiv.org/abs/2610.20596)