Title :
High-bandwidth low-latency tracking using optical and inertial sensors
Author :
Claasen, Gontje C. ; Martin, Philippe ; Picard, Frederic
Author_Institution :
Centre Autom. et Syst., Mines ParisTech, Paris, France
Abstract :
We present an optical-inertial tracking system for tracking a handheld tool in a computer-assisted surgery system. Tracking is fast enough for servo-control of the handheld tool. We show that commercially available optical tracking systems which are suitable for use in computer-assisted surgery systems are not suitable for this application. A modified Extended Kalman Filter is used to fuse optical and inertial data. Our approach is a direct one which uses marker image data instead of triangulated position data, thus reducing latencies. Experimental data show that the optical-inertial system can track a moving object at a high bandwidth.
Keywords :
Kalman filters; biomedical optical imaging; cameras; inertial systems; object tracking; optical sensors; optical tracking; surgery; computer-assisted surgery system; extended Kalman filter; handheld tool tracking; high bandwidth low latency tracking; image data; inertial data; inertial sensor; moving object tracking; optical data; optical sensor; optical-inertial tracking system; servo control; triangulated position data; Adaptive optics; Cameras; Optical filters; Optical imaging; Optical sensors; Quaternions;
Conference_Titel :
Automation, Robotics and Applications (ICARA), 2011 5th International Conference on
Conference_Location :
Wellington
Print_ISBN :
978-1-4577-0329-4
DOI :
10.1109/ICARA.2011.6144911