pp. 1727-1737
S&M2567 Research Paper https://doi.org/10.18494/SAM.2021.3338 Published: May 21, 2021 Improvement of Fiducial Planar Marker Tracking by Integration with Gyroscope [PDF] Shinya Onogi, Takaaki Sugino, Toshihiro Kawase, and Yoshikazu Nakajima (Received February 18, 2021; Accepted April 22, 2021) Keywords: fiducial planar markers, sensor fusion, positional tracking
A fiducial planar marker is generally used for positional tracking by a single camera. The technology is widely applied to entertainment systems and to medical assistance such as surgical navigation systems. However, the tracking accuracy is not sufficient for precise navigation; therefore, fiducial marker tracking has not replaced position sensors such as infrared light tracking systems. In particular, attitude accuracy is important for tracking because a marker is attached to a convenient position of a tracked tool far from the tool’s tip. Therefore, the attitude error generates a large positional error at the tip. To address this issue, we propose a method of improving fiducial planar marker tracking accuracy by sensor fusion. The proposed tracking system consists of a fiducial marker and a gyroscope, which provides angular velocity. To integrate the sensors, a sensor fusion filter based on a Kalman filter was designed. The feasibility and performance of the filter were validated experimentally by using a three-axis motorized rotational stage with potentiometers. The results showed that the root-mean-square error of attitude measurement was reduced by the proposed integration method. We confirmed that sensor fusion with a gyroscope is feasible for 3D tracking of a fiducial planar marker.
Corresponding author: Shinya OnogiThis work is licensed under a Creative Commons Attribution 4.0 International License. Cite this article Shinya Onogi, Takaaki Sugino, Toshihiro Kawase, and Yoshikazu Nakajima, Improvement of Fiducial Planar Marker Tracking by Integration with Gyroscope, Sens. Mater., Vol. 33, No. 5, 2021, p. 1727-1737. |