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High-bandwidth low-latency tracking using optical and inertial sensors

Authors: Gontje C. Claasen, Philippe Martin, Frederic Picard, 5th International Conference on Automation, Robotics and Applications, pp. 366 - 371, Dec 6-8, 2011, Wellington, New Zealand DOI: 10.1109/ICARA.2011.6144911
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.
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BibTeX:
@Proceedings{,
author = {Gontje C. Claasen, Philippe Martin, Frederic Picard},
editor = {},
title = {High-bandwidth low-latency tracking using optical and inertial sensors},
booktitle = {5th International Conference on Automation, Robotics and Applications},
volume = {},
publisher = {},
address = {Wellington},
pages = {366 - 371},
year = {2011},
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 = {}}