Sensor fusion for robust pose tracking using a combined accelerometer-magnetometer-gyroscope device

High-accuracy optical and electromagnetic trackers are commonly used for image-guided interventions for tracking the position and orientation (pose) of surgical tools and target objets. In certain applications these tracking devices could be replaced by small, low-cost inertial measurement units (IMU), which contains integrated accelerometer-magnetometer-gyroscope sensors. Typical size of the sensor is a few centimeters by a few centimeters and it costs about $150. This allows new applications that have not be possible to implement with optical or electromagnetic sensors.

Faculty Supervisor:

Gabor Fichtinger

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University:

Queen's University

Program:

Globalink Research Internship

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