Name
Abstract | ||
|---|---|---|
This paper presents an optical-inertial tracking algorithm with explicit and assured optical marker identification. Active optical markers are sequentially or simultaneously triggered to achieve a maximum in quantity and quality of measurements available for tracking. Markers that appear in a camera image are identified by individual activation and are locally tracked in the 2D-images after initial identification. The 2D-position measurements of the cameras are combined with low latency measurements of acceleration and angular velocity from an inertial measurement unit. An Extended Kalman Filter is used for an ultra-tightly coupled data fusion, that takes advantage of all marker measurements with verified identity. The accurate, low latency tracking is robust with respect to temporary marker occlusions, as needed in applications where a robot is directly controlled with a tracked device. The tracking algorithms are implemented in real-time and verified with a test bed in a medical robotics context. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/IROS.2012.6385869 | Intelligent Robots and Systems |
Keywords | Field | DocType |
Kalman filters,acceleration measurement,angular velocity measurement,biomedical optical imaging,cameras,computer graphics,image fusion,medical robotics,nonlinear filters,optical tracking,position measurement,2D images,2D position measurements,acceleration measurement,active optical marker identification,angular velocity measurement,camera image,extended Kalman filter,individual activation,inertial measurement unit,initial identification,low latency measurements,medical robotics,optical-inertial tracking algorithm,temporary marker occlusions,tracked device,ultra-tightly coupled data fusion | Computer vision,Extended Kalman filter,Computer science,Optical filter,Tracking system,Sensor fusion,Control engineering,Kalman filter,Acceleration,Inertial measurement unit,Artificial intelligence,Latency (engineering) | Conference |
ISSN | ISBN | Citations |
2153-0858 | 978-1-4673-1737-5 | 2 |
PageRank | References | Authors |
0.40 | 5 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Florian Steidle | 1 | 3 | 1.08 |
| Andreas Tobergte | 2 | 2 | 0.40 |
| gerd hirzinger | 3 | 5185 | 617.40 |