Fusion of Optical and Magnetic Tracking
Bearbeiter: SintjeGoeritzAufgabensteller: Prof. Gudrun Klinker Ph.D.
Betreuer: MartinBauer und Jörg Traub
Abgabedatum: 15.05.2005 Student Project (Diplomarbeit)
The aim of this diploma thesis is a fusion of optical and electromagnetic tracking systems with the motivation of improving guidence techniques for minimal inversive surgery. I will combine different tracking systems with different properties like accuracy and availability. The intuitive solution for fusion of two systems would be using the more accurate one if available and switch to the second one when the data of the more accurate are not available. Within this work I will try to get an even better result by statistically combining the two systems with help of several (federated) Kalman Filters.
Documents
Literature
- R.E. Kalman: A New Approach to linear Filtering and Prediction Problems, 1960
- G. Welch, G. Bishop: An Introduction to the Kalman Filter
- N. A. Carlson: Federated square root filter for decentralized parallel processors, IEEE Transactions on Aerospace and Electronic Systems, Volume 26 (3) May 1990, pp. 517-525
- W. Birkfellner: Tracking Systems in Surgical Navigation, Department of Biomedical Engineering and Physics, University of Vienna, October 2000
- B. D. Allen, G. Bishop, G. Welch: Tracking: Beyond 15 Minutes of Thought, SIGGRAPH 2001
| ProjectForm | |
|---|---|
| Title: | Optical and Magnetic Tracking |
| Abstract: | The aim of this diploma thesis is a fusion of optical and electromagnetic tracking systems with the motivation of improving guidence techniques for minimal inversive surgery. I will combine different tracking systems with different properties like accuracy and availability. The intuitive solution for fusion of two systems would be using the more accurate one if available and switch to the second one when the data of the more accurate are not available. Within this work I will try to get an even better result by statistically combining the two systems with help of several (federated) Kalman Filters. |
| Student: | Sintje Göritz |
| Director: | Gudrun Klinker |
| Supervisor: | Martin Bauer, Joerg Traub |
| Type: | Diploma Thesis |
| Status: | finished |
| Start: | |
| Finish: | 2005/08/15 |
| I | Attachment   | Action | Size | Date | Who | Comment |
|---|---|---|---|---|---|---|
 | proposal.pdf | manage | 543.8 K | 17 Nov 2004 - 11:53 | Main.goeritz | Thesis Proposal |