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Optical-Inertial Tracking of an Input Device for Real-Time Robot Control

Steidle, Florian and Tobergte, Andreas and Albu-Schäffer, Alin (2016) Optical-Inertial Tracking of an Input Device for Real-Time Robot Control. In: IEEE International Conference on Robotics and Automation ICRA. IEEE International Conference on Robotics and Automation, 2016-05-16 - 2016-05-21, Stockholm, Schweden. doi: 10.1109/ICRA.2016.7487202.

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Official URL: http://ieeexplore.ieee.org/abstract/document/7487202/


Minimally invasive robotic surgery systems are usually controlled by input devices, that are mechanically linked to the environment. These input devices often have a limited workspace, which makes intuitive operation difficult. This paper presents a tracking algorithm of a handheld input device, which combines inertial and optical measurements to obtain accurate and robust state estimates with high update rates and low latency. It is based on the fusion of inertial and optical data in an error state extended Kalman filter. To achieve a high degree of robustness with respect to partial device occlusions, active optical markers are tracked and their 2D positions in the camera planes are directly forwarded to the fusion process. The algorithm can handle partial occlusions of the device in one or all of the cameras. A quality measure is defined, which indicates if tracking performance is sufficient to control a robot. An exemplary task in a medical robotics context verifies the assumption that the tracking system can be used for real-time robot control despite frequent marker occlusions.

Item URL in elib:https://elib.dlr.de/109933/
Document Type:Conference or Workshop Item (Speech)
Title:Optical-Inertial Tracking of an Input Device for Real-Time Robot Control
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Steidle, FlorianUNSPECIFIEDhttps://orcid.org/0000-0001-6935-9810UNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115728
Date:16 May 2016
Journal or Publication Title:IEEE International Conference on Robotics and Automation ICRA
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:Input device, visual-inertial tracking
Event Title:IEEE International Conference on Robotics and Automation
Event Location:Stockholm, Schweden
Event Type:international Conference
Event Start Date:16 May 2016
Event End Date:21 May 2016
Organizer:IEEE Robotics and Automation Society
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Medical Assistance Systems [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Steidle, Florian
Deposited On:22 Dec 2016 09:00
Last Modified:24 Apr 2024 20:15

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