Identification of Behaviour in Freely Moving Dogs (Canis familiaris) Using Inertial Sensors
Figure 2
Snapshots of the raw data measured by the gyroscope (A) and the accelerometer (B).
Figure shows a half-minute period of a measurement collected from a freely moving dog equipped with the data logger device. The dog performed consecutive periods of trot, canter and stand type categories of behaviour. Behaviour categories belonging to parts of the data are indicated above the curves. Insets below the curves show one second periods of the data with the same amplitude range as the main plot. Note the non-zero offset of the acceleration components due to the measured gravity during “stand”, or the high frequency of the data during active motion. Data acquisition rate is 100Hz. The colour coding of the curves refers to the different axes of the tri-axial sensors: acceleration along and angular velocity (roll, pitch and yaw) about the x, y and z axis shown with red, green and blue, respectively.