AMagPoseNet: Real-Time Six-DoF Magnet Pose Estimation by Dual-Domain Few-Shot Learning From Prior Model

Abstract

Traditional magnetic tracking approaches based on mathematical models and optimization algorithms are computationally intensive, depend on initial guesses, and do not guarantee convergence to a global optimum. Although fully supervised data-driven deep learning can solve the above issues, the demand for a comprehensive dataset hampers its applicability in magnetic tracking. Thus, we propose an annular magnet pose estimation network (called AMagPoseNet) based on dual-domain few-shot learning from a prior mathematical model, which consists of two subnetworks: PoseNet and CaliNet. PoseNet learns to estimate the magnet pose from the prior mathematical model, and CaliNet is designed to narrow the gap between the mathematical model domain and the real-world domain. Experimental results reveal that the AMagPoseNet outperforms the optimization-based method regarding localization accuracy (1.87±1.14 mm, 1.89±0.81 • ), robustness (nondependence on initial guesses), and computational latency (2.08±0.02 ms). In addition, the six-degree-offreedom pose of the magnet could be estimated when discriminative magnetic field features are provided. With the assistance of the mathematical model, the AMagPoseNet

Uniform gradient magnetic field and spatial localization method based on Maxwell coils for virtual surgery simulation

“…[16][17][18][19] Su et al introduced AMagPoseNet, an end-to-end neural network model designed to tackle the inverse static magnetic problem. 20 Chen et al designed a MagX sensor matrix for the positioning of wearable spherical magnets. The system is capable of simultaneously locating multiple permanent magnets with low power consumption, achieving an average error of 7.4 mm in tracking magnetic capsule.…”

“…There are primarily two types of magnetic sources for spatial localization, that is, solenoid coils 14,15 and permanent magnets 16–19 . Su et al introduced AMagPoseNet, an end‐to‐end neural network model designed to tackle the inverse static magnetic problem 20 . Chen et al designed a MagX sensor matrix for the positioning of wearable spherical magnets.…”