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	A Novel Marker Tracking Method Based on Extended Kalman Filter for Multi-camera Optical Tracking
	Li Liu; Bo Sun; Ning Wei; Chao Hu; Max Q.-H. Meng
	2011
会议名称	5th International Conference on Bioinformatics and Biomedical Engineering
会议地点	Wuhan, China
英文摘要	In the Robotics Assisted Surgical System, the position and orientation of the surgical tools must be estimated precisely in real time. In order to decrease the possibility of the occlusion of line-of-sight, the multi-camera optical tracking system prototype is developed. Based on this hardware platform, a novel multi-marker tracking algorithm using Extended Kalman Filter (EKF) for multi-camera tracking systems is proposed, which makes full use of the redundant information of multi-camera. The marker target movement model can benefit from multiple views by performing a special EKF updating 3D state by 2D projection observations on the image planes. This method has the advantage to estimate the movement of a 3D point more accurately by directly using the actual observations from multiple views rather than the non-continuous and possibly error-prone 3D reconstructed point. The experimental results indicate that the presented tracking algorithm is able to track the 3D trajectories of multiple targets simultaneously, and the estimated 3D positions by EKF are in agreement with the actual measurements by stereo triangulation.
收录类别	EI
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/3401]
专题	深圳先进技术研究院_集成所
作者单位	2011
推荐引用方式 GB/T 7714	Li Liu,Bo Sun,Ning Wei,et al. A Novel Marker Tracking Method Based on Extended Kalman Filter for Multi-camera Optical Tracking[C]. 见:5th International Conference on Bioinformatics and Biomedical Engineering. Wuhan, China.

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