Geometric hand-eye calibration for an endoscopic neurosurgery system

Abstract

We present an algorithm in the conformal geometric algebra framework which computes the transformation (rotation and translation) relating the coordinate system of an endoscopic camera, with the coordinate system of the markers placed on it. Such markers are placed in order to track the camera's position in real time by using an optical tracking system. The… (More)
DOI: 10.1109/ROBOT.2008.4543401

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