Footplant Detection Based on Adjusting the Foot Height Threshold Automatically

In this paper, we present a footplant detection method by adaptive determining foot height threshold. In our method, we firstly divide one step into a number of stages, each stage has different types of constraints. Then adaptively electing foot height threshold according to motion type and the length \( l \) of the minimum constraint frame that designed by the user and the maximum error \( \varphi \) of \( l \) to determine which foot should be planted. Finally, we verify the effectiveness of our approach from the path offset error.