Table 2.

Number of detected zero velocity intervals by different methods (actual number of zero velocity interval is 30).

	Experiments	Speed [m/s]	Number of detected zero velocity intervals by different methods
			[1]	[2]	[3]	Proposed method with an HMM filter	Proposed method with an HMM smoother
Walking	1st	1.3	28	30	30	30	30
	2nd	1.4	22	29	30	30	30
	3rd	1.4	28	30	30	30	30
Running	1st	2.4	0	2	30	10	30
	2nd	2.8	0	1	30	1	30
	3rd	2.5	0	0	30	16	30