Paper Info
Title
An improved robust hand-eye calibration for endoscopy navigation system.
Abstract
Endoscopy is widely used in clinical application, and surgical navigation system is an extremely important way to enhance the safety of endoscopy. The key to improve the accuracy of the navigation system is to solve the positional relationship between camera and tracking marker precisely. The problem can be solved by the hand eye calibration method based on dual quaternions. However, because of the tracking error and the limited motion of the endoscope, the sample motions may contain some incomplete motion samples. Those motions will cause the algorithm unstable and inaccurate. An advanced selection rule for sample motions is proposed in this paper to improve the stability and accuracy of the methods based on dual quaternion. By setting the motion filter to filter out the incomplete motion samples, finally, high precision and robust result is achieved. The experimental results show that the accuracy and stability of camera registration have been effectively improved by selecting sample motion data automatically.
Year
DOI
Venue
2016
10.1117/12.2216910
Proceedings of SPIE
Keywords
Field
DocType
Endoscopy navigation system,tracking,calibration,hand-eye
Endoscope,Computer vision,Dual quaternion,Navigation system,Endoscopy,Optics,Artificial intelligence,Calibration,Tracking error,Physics
Conference
Volume
ISSN
Citations 
9786
0277-786X
0
PageRank 
References 
Authors
0.34
0
11
Name
Order
Citations
PageRank
Wei He103.04
Kumsok Kang210.70
Yanfang Li300.68
WeiLi Shi415.10
yu miao547.18
Fei He611.38
Fei Yan711115.03
Huamin Yang81917.29
Huimao Zhang900.68
Kensaku Mori101125160.28
Zhengang Jiang11226.42