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, 2011-05-09 - 2011-05-13, Shanghai. ISBN 978-1-61284-380-3.
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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/ | ||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Paper) | ||||||||||||||||||||
Title: | An approach to ultra-tightly coupled data fusion for handheld input devices in robotic surgery | ||||||||||||||||||||
Authors: |
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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 Start Date: | 9 May 2011 | ||||||||||||||||||||
Event End Date: | 13 May 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: | 24 Apr 2024 19:39 |
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