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

ICARA 2011 - Proceedings of the 5th International Conference on Automation, Robotics and Applications

Volumn , Issue , 2011, Pages 366-371

  Claasen, Gontje C ^a   Martin, Philippe ^a   Picard, Frederic ^b  

^a PSL RESEARCH UNIVERSITY   (France)

^b GOLDEN JUBILEE NATIONAL HOSPITAL   (United Kingdom)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER ASSISTED SURGERY; EXPERIMENTAL DATA; HANDHELDS; HIGH BANDWIDTH; IMAGE DATA; INERTIAL SENSOR; LOW-LATENCY; MOVING OBJECTS; OPTICAL TRACKING SYSTEMS; POSITION DATA; SERVO-CONTROL; TRACKING SYSTEM;

TRACKING (POSITION);

ROBOTICS;

EID: 84863419864     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICARA.2011.6144911     Document Type: Conference Paper

References (17)

1. G. Brisson, T. Kanade, A. M. D. Gioia, and B. Jaramaz, "Precision freehand sculpting of bone, " in Medical Image Computing and Computer-Assisted Intervention, ser. LNCS. Springer, 2004, pp. 105-112.
2. H. Haider, O. A. Barrera, and K. L. Garvin, "Minimally invasive total knee arthroplasty surgery through navigated freehand bone cutting: Winner of the 2005 HAP Paul Award, " J Arthroplasty, vol. 22, no. 4, pp. 535-542, 2007.
3. N. Parnian, S. P. Won, and F. Golnaraghi, "Position sensing using integration of a vision system and inertial sensors, " in 34th Annual Conf. of the IEEE Industrial Electronics Society, 2008, pp. 3011-3015.
4. D. Roetenberg, "Inertial and magnetic sensing of human motion, " Ph. D. dissertation, Universiteit Twente, 2006.
5. A. Tobergte, M. Pomarlan, and G. Hirzinger, "Robust multi sensor pose estimation for medical applications, " in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, 2009, pp. 492-497.
6. B. Hartmann, N. Link, and G. F. Trommer, "Indoor 3D position estimation using low-cost inertial sensors and marker-based video-tracking, " in IEEE/ION Position Location and Navigation Symposium, 2010, pp. 319-326.
7. R. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision, 2nd ed. Cambridge University Press, 2003.
8. IEEE Standard Specification Format Guide and Test Procedure for Single-Axis Interferometric Fiber Optic Gyros (IEEE Std 95-1997), IEEE Aerospace and Electronic Systems Society Std., 1997.
9. S. Umeyama, "Least-squares estimation of transformation parameters between two point patterns, " IEEE T Pattern Anal, vol. 13, no. 4, pp. 376-380, 1991.
10. B. L. Stevens and F. L. Lewis, Aircraft control and simulation. John Wiley & Sons, Inc., Hoboken, New Jersey, 2003.
11. G. C. Goodwin, S. F. Graebe, and M. E. Salgado, Control System Design. Prentice Hall, 2001.
12. E. J. Lefferts, F. L. Markley, and M. D. Shuster, "Kalman filtering for spacecraft attitude estimation, " J Guid Control Dynam, vol. 5, no. 5, pp. 417-429, 1982.
13. J. L. Crassidis, F. L. Markley, and Y. Cheng, "Survey of nonlinear attitude estimation methods, " J Guid Control Dynam, vol. 30, no. 1, pp. 12-28, 2007.
14. S. Bonnabel, P. Martin, and E. Salan, "Invariant extended Kalman filter: theory and application to a velocity-aided attitude estimation problem, " in 48th IEEE Conference on Decision and Control, 2009.
15. D. Simon, Optimal State Estimation: Kalman, H∞, and Nonlinear Approaches. John Wiley & Sons, Inc., Hoboken, New Jersey, 2006.
16. U. J̈urss and W. Rudolph, "Tracking hot spots, " elektor, vol. 384, 11 2008.
17. J.-Y. Bouguet, "Camera calibration toolbox for Matlab. " [Online]. Available: http://www.vision. caltech. edu/bouguetj/calib doc