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Design and implementation of an improved real-time tracking system for navigation surgery by fusion of optical and inertial tracking methods
, Article Applied Mechanics and Materials ; Volume 186 , 2012 , Pages 273-279 ; 16609336 (ISSN) ; 9783037854440 (ISBN) ; Farahmand, F ; Salarieh, H ; Sharif University of Technology
2012
Abstract
The fusion of the optical and inertial tracking systems seems an attractive solution to solve the shadowing problem of the optical tracking systems, and remove the time integration troubles of the inertial sensors. We developed a fusion algorithm for this purpose, based on the Kalman filter, and examined its efficacy to improve the position and orientation data, obtained by each individual system. Experimental results indicated that the proposed fusion algorithm could effectively estimate the 2 seconds missing data of the optical tracker