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Open nowPosted 60 days ago

IMU人体姿态跟踪算法工程师（FK骨骼/惯性动捕方向）

agirobot/referral515 open roles

Where
Shanghai, Chinese Mainland
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Your applicationOpen nowIMU人体姿态跟踪算法工程师（FK骨骼/惯性动捕方向）agirobot/referral · Shanghai, Chinese Mainland

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Early applications get read.

12.3% of postings close within 7 days. Measured by our own scanner across the market. agirobot/referral postings stay open a median of 1 days.

Share of postings closed within
  1. 2.1%1 day
  2. 4.5%3 days
  3. 12.3%7 days
  4. 19.3%14 days
  5. 35.6%30 days
  6. 57.8%60 days
This job: posted 60 days ago

agirobot/referral median: 1 days open

The posting

【岗位简介】 本岗位聚焦纯IMU惯性人体运动跟踪方案，区别于视觉SLAM，核心基于多IMU传感器阵列，依托IMU器件特性、误差建模与正向运动学（FK）完成人体骨骼姿态、关节角度、全身运动轨迹解算，对标消费级惯性动捕产品方案，负责算法设计、误差校准、骨骼解算优化与端上产品落地，支撑XR体感、人体动作捕捉、空间运动跟踪业务。 【岗位职责】 1. 主导纯IMU人体跟踪算法研发与迭代，不依赖视觉特征，基于全身多点位IMU传感器，完成人体关节姿态、骨骼变换、全身运动轨迹的实时解算，搭建轻量化惯性动捕技术方案。 2. 深耕IMU器件核心特性，针对加速度计、陀螺仪固有误差，完成IMU噪声建模、零偏标定、温漂补偿、尺度误差修正、随机游走抑制，解决低成本MEMS IMU长期积分漂移、姿态累积误差等核心工程问题。 3. 精通人体骨骼正向运动学（FK）算法，基于标准人体骨骼拓扑结构，设计适配多点位IMU的骨骼映射、关节约束、姿态融合算法，优化肢体运动连贯性、骨骼姿态合理性，杜绝骨骼穿模、运动畸变、姿态抖动问题。 4. 负责多IMU传感器系统工程优化，完成多设备时间戳精准同步、硬件外参标定、安装偏差校准，搭建多IMU数据融合、姿态互补滤波体系，提升复杂运动、快速肢体摆动、静态站立场景下的跟踪稳定性。 5. 设计IMU惯性姿态解算链路，优化卡尔曼滤波、互补滤波、非线性姿态优化算法，实现陀螺仪积分优化、姿态四元数解算、重力矢量校准，有效抑制长时间运动跟踪漂移。 6. 搭建人体跟踪评测体系，完成IMU原始数据采集、真值对齐、数据集搭建，量化评估骨骼姿态精度、轨迹稳定性、延迟指标，持续迭代算法性能。 7. 负责算法端侧落地，基于C++完成算法工程化实现、轻量化裁剪与性能优化，适配嵌入式端设备，保障低延迟、高实时性，支撑消费级产品量产落地。

【任职要求】 1. 硕士及以上学历，自动化、机器人、导航制导、计算机视觉、运动捕捉等相关专业，2年以上IMU惯性姿态解算、纯惯性人体跟踪算法研发经验。 2. 精通MEMS IMU器件特性与误差模型，深刻理解陀螺仪/加速度计零偏、温漂、噪声、随机游走、误差传播机制，具备成熟的IMU离线校准、在线补偿、动态误差抑制实战经验。 3. 熟练掌握人体骨骼正向运动学（FK），熟悉人体骨骼拓扑结构、关节自由度约束、刚体变换、矩阵/四元数姿态运算，有纯IMU全身/上半身人体姿态解算、惯性动捕算法落地经验。 4. 扎实的姿态解算与滤波功底，精通四元数姿态更新、互补滤波、EKF/UKF惯性融合算法，能够独立搭建纯IMU姿态解算与运动跟踪完整链路。 5. 具备多IMU阵列同步、多传感器联合标定、安装误差校准实战能力，可独立解决实际场景中姿态漂移、抖动、运动失真等问题。 6. 熟练C++、Python，具备良好的算法工程化能力，熟悉嵌入式端算法优化、轻量化部署，保障算法低延迟、高实时运行。 7. 优先条件：有纯IMU人体动作捕捉、惯性骨骼跟踪、XR体感设备姿态算法落地经验，对标主流消费级惯性动捕产品方案开发经验。 【加分项】 1. 熟悉反向运动学（IK）、人体动力学约束，具备FK+IK融合人体姿态优化经验； 2. 有低成本MEMS IMU大规模量产产品算法迭代、温漂自适应补偿落地经验； 3. 熟悉人体SMPL/SMPL-X骨骼模型，有惯性数据驱动人体骨骼动画、姿态重建经验； 4. 具备运动捕捉、体感交互、XR空间人体跟踪相关项目量产落地经验； 5. 掌握传感器误差建模、时序优化、端侧实时算法调优能力。

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