Optical-Inertial Tracking of an Input Device for Real-Time Robot Control
IEEE International Conference on Robotics and Automation（2016）
关键词
optical-inertial tracking,real-time robot control,minimally invasive robotic surgery systems,tracking algorithm,handheld input device,inertial measurements,optical measurements,robust state estimates,error state extended Kalman filter,robustness,partial device occlusions,active optical markers,2D positions,camera planes,fusion process,quality measure,medical robotics
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