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Optical-inertial tracking with active markers and changing visibility

Steidle, Florian and Tobergte, Andreas and Hirzinger, Gerd (2012) Optical-inertial tracking with active markers and changing visibility. IROS 2012, 7-12 Oct 2012, Vila Moura, Portugal.

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Abstract

This paper presents an optical-inertial tracking algorithm with explicit and assured optical marker identifica- tion. Active optical markers are sequentially or simultaneously triggered to achieve a maximum in quantity and quality of measurements available for tracking. Markers that appear in a camera image are identified by individual activation and are locally tracked in the 2D-images after initial identification. The 2D-position measurements of the cameras are combined with low latency measurements of acceleration and angular velocity from an inertial measurement unit. An Extended Kalman Filter is used for an ultra-tightly coupled data fusion, that takes advantage of all marker measurements with verified identity. The accurate, low latency tracking is robust with respect to temporary marker occlusions, as needed in applications where a robot is directly controlled with a tracked device. The tracking algorithms are implemented in real-time and verified with a test bed in a medical robotics context.

Item URL in elib:https://elib.dlr.de/80359/
Document Type:Conference or Workshop Item (Paper)
Title:Optical-inertial tracking with active markers and changing visibility
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Steidle, FlorianFlorian.Steidle (at) dlr.deUNSPECIFIED
Tobergte, AndreasAndreas.Tobergte (at) dlr.deUNSPECIFIED
Hirzinger, GerdGerd.Hirzinger (at) dlr.deUNSPECIFIED
Date:October 2012
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:optical-inertial tracking, marker identification, sensor fusion
Event Title:IROS 2012
Event Location:Vila Moura, Portugal
Event Type:international Conference
Event Dates:7-12 Oct 2012
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - RMC - Kognitive Intelligenz und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Steidle, Florian
Deposited On:11 Jan 2013 15:01
Last Modified:11 Jan 2013 15:01

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