Publikationen Mitarbeiter
- Achim Schweikard
- Niclas Bockelmann
- Sven Böttger
- Ralf Bruder
- Floris Ernst
- Maria Henke
- Marius Krusen
- Felix von Haxthausen
- Jonas Osburg
- Daniel Wulff
- Jingyang Xie
- Honghu Xue
Publikationen ehemalige Mitarbeiter
- Mohammed Al-Badri
- Rehman Ansari
- Norbert Binder
- Christoph Bodensteiner
- Alexander Derksen
- Robert Dürichen
- Markus Finke
- Verónica García Vázquez
- Fernando Gasca
- Hamid Hadjar
- Jannis Hagenah
- Maximilian Heinig
- Svenja Ipsen
- Phillip Jauer
- Ivo Kuhlemann
- Jirapong Manit
- Volker Martens
- Lars Matthäus
- Christoph Metzner
- Lukas Ramrath
- Lars Richter
- Nils Rottmann
- Elmar Rückert
- Alexander Schlaefer
- Osama Shahin
- Birgit Stender
- Patrick Stüber
- Tiberiu Viulet
- Benjamin Wagner
- Christian Wilde
- Tobias Wissel
Non-orthogonal Tool/Flange and Robot/World Calibration for Realistic Tracking Scenarios
| Type of publication: | Artikel |
| Zeitschrift: | International Journal of Medical Robotics and Computer Assisted Surgery |
| Band: | 8 |
| Nummer: | 4 |
| Jahr: | 2012 |
| Monat: | Dezember |
| Seiten: | 407--420 |
| Notiz: | Transcranial Magnetic Stimulation, Motion Compensation in Radiosurgery |
| DOI: | 10.1002/rcs.1427 |
| Abriss: | This work presents a novel method for simultaneous tool/flange and robot/world calibration by estimating a solution to the common matrix equation AX=YB. This solution is computed using a least-squares approach. Since real robots and localisation are all afflicted by certain errors, our approach allows for non-orthogonal matrices, partially compensating for imperfect calibration of the robot or localisation device. Additionally, we also introduce a new method where full robot/world and partial tool/flange calibration is possible using localisation devices providing less than six degrees of freedom. The methods are evaluated on simulation data and on real-world measurements collected using optical and magnetical tracking devices (NDI's Polaris Spectra and Aurora systems), volumetric ultrasound (a modified GE Vivid7 Dimension station, providing 3-DOF data), and a surface laser scanning device (LAP GALAXY). We compare our methods to two classical approaches: the method by Tsai/Lenz and the Dual Quaternion method by Daniilidis. In all experiments, the new algorithms strongly outperform the classical methods in terms of translational accuracy (by as much as 80%) and perform similarly in terms of rotational accuracy. Additionally, the methods are shown to be stable: the number of calibration stations used has far less influence on calibration quality than for the classical methods. |
| Nutzerfelder: | file={ermm_12.pdf:ermm_12.pdf:PDF} |
| Schlagworte: | |
| Autoren: | |
|
Anhänge
|
|
|
|
| [Bib|RIS] | |
|
|
|
