Real-Time Attitude Tracking of Capsule Endoscope Based on MEMS IMU and Error Analysis.
Zhuokang HuangChengzhi HuPublished in: RCAR (2021)
Keyphrases
- error analysis
- real time
- endoscopic images
- surgical instruments
- real time tracking
- least squares
- moving target
- error correction
- surgical tools
- monocular camera
- motion estimates
- inertial sensors
- beating heart
- cross ratio
- live video
- kalman filter
- markerless
- tissue deformation
- error estimates
- motion tracking
- motion analysis
- feature tracking
- vision system