ICRA 2011 Paper Abstract


Paper TuP213.3

Tobergte, Andreas (German Aerospace Center (DLR)), Pomarlan, Mihai (German Aerospace Centre), Passig, Georg (German Aerospace Center), Hirzinger, Gerd (German Aerospace Center (DLR))

An Approach to Ulta-Tightly Coupled Data Fusion for Handheld Input Devices in Robotic Surgery

Scheduled for presentation during the Regular Sessions "Medical Robots and Systems IV" (TuP213), Tuesday, May 10, 2011, 15:55−16:10, Room 5I

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Medical Robots and Systems, Sensor Fusion, Computer Vision for Robotics and Automation


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. The 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 for the application.



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