Robust multi sensor pose estimation for medical applications

  title={Robust multi sensor pose estimation for medical applications},
  author={Andreas Tobergte and Mihai Pomarlan and Gerd Hirzinger},
  journal={2009 IEEE/RSJ International Conference on Intelligent Robots and Systems},
In this paper a sensor fusion for pose estimation using optical and inertial data is presented. The proposed algorithm is based on extended Kalman filtering and fuses data from an optical tracking system and an inertial measurement unit. These two redundant sensor systems complement each other well, with the tracking system providing absolute positions and the inertial measurements giving low latency information of derivatives. Models for both sensors are given respecting the different sampling… CONTINUE READING
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