A Paired-Orientation Alignment Problem in a Hybrid Tracking System for Computer Assisted Surgery |
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Authors: | Email author" target="_blank">Hongliang?RenEmail author Peter?Kazanzides |
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Affiliation: | 1.Laboratory for Computational Sensing and Robotics (LCSR), Department of Computer Science and Department of Biomedical Engineering,The Johns Hopkins University,Baltimore,USA |
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Abstract: | Coordinate Alignment (CA) is an important problem in hybrid tracking systems involving two or more tracking devices. CA typically
associates the measurements from two or more tracking systems with respect to distinct base frames and makes them comparable
in the same aligned coordinate system. In this article, we discuss a sub-problem, Paired-Orientation Alignment (POA), in the
category of CA. This sub-problem occurs during the development of an integrated electromagnetic and inertial attitude (orientation)
tracking system, where only the orientation information is acquired from the two tracking devices. The problem is modeled
as a matrix equation YC = D with constraints, which can be solved as a least-squares problem using quaternions. A closed-form
analytical solution is given by the pseudo-inverse matrix. This method is specifically for registering the paired-orientation
measurements between two coordinate systems, without using position information. The algorithm is illustrated by simulations
and proof-of-concept tracking experiments. |
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Keywords: | |
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