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Robust Multi Sensor Pose Estimation for Medical Applications

Tobergte, Andreas and Pomarlan, Mihai and Hirzinger, Gerd (2009) Robust Multi Sensor Pose Estimation for Medical Applications. In: Proceedings. IROS, International Conference on Intelligent Robots and Systems, 11. Okt. -15. Okt. 2009, St. Louis, USA.

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In this paper a sensor fusion for pose estimation using optical and inertial data is presented. The proposed algorithm is based on extended Kalman filtering and fuses data from an optical tracking system and an inertial measurement unit. These two redundant sensor systems complement each other well, with the tracking providing absolute position accuracy and the inertial measurements giving low latency information of derivatives. Models for both sensors are given respecting the different sampling times and latencies. Another key issue is to use information about every landmark, i.e. marker, visible for the tracking system, by coupling the two sensor systems tightly together. The algorithms are evaluated in simulation and tested with an experimental hardware platform. The combined sensor system provides robust pose estimation in case of short time marker occlusion and effectively compensates for latencies the pose measurements.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Robust Multi Sensor Pose Estimation for Medical Applications
AuthorsInstitution or Email of Authors
Tobergte, AndreasAndreas.Tobergte@dlr.de
Pomarlan, MihaiMihai.Pomarlan@dlr.de
Hirzinger, GerdGerd.Hirzinger@dlr.de
Date:11 October 2009
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Keywords:Multi Sensor Pose Estimation, Medical Applications
Event Title:IROS, International Conference on Intelligent Robots and Systems
Event Location:St. Louis, USA
Event Type:international Conference
Event Dates:11. Okt. -15. Okt. 2009
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:14 Jan 2010 16:45
Last Modified:12 Dec 2013 20:52

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