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An approach to ultra-tightly coupled data fusion for handheld input devices in robotic surgery

Tobergte, Andreas and Pomarlan, Mihai and Passig, Georg and Hirzinger, Gerd (2011) An approach to ultra-tightly coupled data fusion for handheld input devices in robotic surgery. In: International Conference on Robotics and Automation. ICRA 2011, 9.-13. Mai 2011, Shanghai. ISBN 978-1-61284-380-3

Full text not available from this repository.

Abstract

This paper introduces an ultra-tightly coupled approach to data fusion of optical and inertial measurements. The two redundant sensor systems complement each other well, with the cameras providing absolute positions and the inertial measurements giving low latency information of derivatives. A targeted application is the tracking of handheld input devices for robotic surgery, where landmarks are not always visible to all cameras. Especially when bi-manual operation is considered, where one hand can move between the other hand and a camera, occlusions occur frequently. The ultra-tighly coupled data fusion uses 2D-camera measurements to correct pose estimations in an extended Kalman filter without an explicit 3D-reconstruction. Therefore marker measurements are used to support the pose estimation, even if the marker is only visible in one camera. Experiments were done with an inertial measurement unit and rectified stereo cameras that show the advantage of the approach.

Item URL in elib:https://elib.dlr.de/73450/
Document Type:Conference or Workshop Item (Paper)
Title:An approach to ultra-tightly coupled data fusion for handheld input devices in robotic surgery
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Tobergte, AndreasUNSPECIFIEDUNSPECIFIED
Pomarlan, MihaiUNSPECIFIEDUNSPECIFIED
Passig, GeorgUNSPECIFIEDUNSPECIFIED
Hirzinger, GerdUNSPECIFIEDUNSPECIFIED
Date:13 May 2011
Journal or Publication Title:International Conference on Robotics and Automation
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
ISBN:978-1-61284-380-3
Status:Published
Keywords:Data fusion, input device
Event Title:ICRA 2011
Event Location:Shanghai
Event Type:international Conference
Event Dates:9.-13. Mai 2011
Organizer:IEEE
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 - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > Robotic Systems
Deposited By: Tobergte, Andreas
Deposited On:23 Dec 2011 14:08
Last Modified:23 Dec 2011 14:08

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