Nicht-modellbasierte Kalibrierung von Kameras mit Monitoren

Hoppe, Harald; Seebacher, Fabian; Klemm, Martin

doi:10.1007/978-3-662-49465-3_11

Cited by 2 publications

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References 6 publications

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“…All in all, each tracker type includes four collinear LED triplets: two side triplets with an asymmetric and two middle triplets with a symmetric LED layout. The cameras are calibrated with the pixel-wise and model-free calibration method introduced in [9]. In [15], it was shown that pose estimation with one camera is accurate enough for surgical navigation purposes.…”

Section: Introductionmentioning

confidence: 99%

Fast, robust, and accurate monocular peer-to-peer tracking for surgical navigation

et al. 2020

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Purpose This work presents a new monocular peer-to-peer tracking concept overcoming the distinction between tracking tools and tracked tools for optical navigation systems. A marker model concept based on marker triplets combined with a fast and robust algorithm for assigning image feature points to the corresponding markers of the tracker is introduced. Also included is a new and fast algorithm for pose estimation. Methods A peer-to-peer tracker consists of seven markers, which can be tracked by other peers, and one camera which is used to track the position and orientation of other peers. The special marker layout enables a fast and robust algorithm for assigning image feature points to the correct markers. The iterative pose estimation algorithm is based on point-to-line matching with Lagrange-Newton optimization and does not rely on initial guesses. Uniformly distributed quaternions in 4D (the vertices of a hexacosichora) are used as starting points and always provide the global minimum. Results Experiments have shown that the marker assignment algorithm robustly assigns image feature points to the correct markers even under challenging conditions. The pose estimation algorithm works fast, robustly and always finds the correct pose of the trackers. Image processing, marker assignment, and pose estimation for two trackers are handled in less than 18 ms on an Intel i7-6700 desktop computer at 3.4 GHz. ConclusionThe new peer-to-peer tracking concept is a valuable approach to a decentralized navigation system that offers more freedom in the operating room while providing accurate, fast, and robust results.

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Section: Introductionmentioning

confidence: 99%

Fast, robust, and accurate monocular peer-to-peer tracking for surgical navigation

et al. 2020

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Electrode-free visual prosthesis/exoskeleton control using augmented reality glasses in a first proof-of-technical-concept study

Hazubski

Hoppe

Otte

2020

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In the field of neuroprosthetics, the current state-of-the-art method involves controlling the prosthesis with electromyography (EMG) or electrooculography/electroencephalography (EOG/EEG). However, these systems are both expensive and time consuming to calibrate, susceptible to interference, and require a lengthy learning phase by the patient. Therefore, it is an open challenge to design more robust systems that are suitable for everyday use and meet the needs of patients. In this paper, we present a new concept of complete visual control for a prosthesis, an exoskeleton or another end effector using augmented reality (AR) glasses presented for the first time in a proof-of-concept study. By using AR glasses equipped with a monocular camera, a marker attached to the prosthesis is tracked. Minimal relative movements of the head with respect to the prosthesis are registered by tracking and used for control. Two possible control mechanisms including visual feedback are presented and implemented for both a motorized hand orthosis and a motorized hand prosthesis. Since the grasping process is mainly controlled by vision, the proposed approach appears to be natural and intuitive.

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Nicht-modellbasierte Kalibrierung von Kameras mit Monitoren

Cited by 2 publications

References 6 publications

Fast, robust, and accurate monocular peer-to-peer tracking for surgical navigation

Fast, robust, and accurate monocular peer-to-peer tracking for surgical navigation

Electrode-free visual prosthesis/exoskeleton control using augmented reality glasses in a first proof-of-technical-concept study

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