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

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.
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https://hal-mines-paristech.archives-ouvertes.fr/hal-00686357
Contributor : François Chaplais <>
Submitted on : Tuesday, April 10, 2012 - 9:01:33 AM
Last modification on : Thursday, January 7, 2021 - 9:28:03 AM

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Göntje Caroline Claasen, Philippe Martin, Frédéric Picard. High-bandwidth low-latency tracking using optical and inertial sensors. 5th International Conference on Automation, Robotics and Applications, Dec 2011, Wellington, New Zealand. pp.366 - 371, ⟨10.1109/ICARA.2011.6144911⟩. ⟨hal-00686357⟩

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