Abstract
We propose an optical-inertial tracking system for a servo-controlled handheld tool in a computer-assisted surgery system. We present a mathematical system description and a data fusion algorithm which integrates data from optical and inertial sensors. The algorithm is a right-invariant Extended Kalman Filter (EKF) which takes into account system symmetries to improve the filter convergence. The tracking system has a high bandwidth thanks to the inertial sensors and a low latency thanks to a direct approach where sensor data is used directly in the data fusion algorithm without previous computations. Experimental data show that the optical-inertial system can indeed track a moving object.
Based on High-Bandwidth Low-Latency Tracking Using Optical and Inertial Sensors, by Göntje C. Claasen, Philippe Martin and Frédéric Picard which appeared in the Proceedings of the 5th International Conference on Automation, Robotics and Applications (ICARA 2011). © 2011 IEEE.
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Claasen, G.C., Martin, P., Picard, F. (2013). Optical-Inertial Tracking System with High Bandwidth and Low Latency. In: Sen Gupta, G., Bailey, D., Demidenko, S., Carnegie, D. (eds) Recent Advances in Robotics and Automation. Studies in Computational Intelligence, vol 480. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-37387-9_13
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DOI: https://doi.org/10.1007/978-3-642-37387-9_13
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