Fast marker based c-arm pose estimation

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Title: Fast marker based c-arm pose estimation
Authors: Kainz, B
Grabner, M
Rüther, M
Item Type: Conference Paper
Abstract: To estimate the pose of a C-Arm during interventions therapy we have developed a small sized X-Ray Target including a special set of beads with known locations in 3D space. Since the patient needs to remain in the X-Ray path for all feasible poses of the C-Arm during the intervention, we cannot construct a single marker which is entirely visible in all images. Therefore finding 2D-3D point correspondences is a non-trivial task. The marker pattern has to be chosen in a way such that its projection onto the image plane is unique in a minimal-sized window for all relevant poses of the C-Arm. We use a two dimensional adaption of a linear feedback shift register (LFSR) to generate a two-dimensional pattern with unique sub-patterns in a certain window range. Thereby uniqueness is not achieved by placing unique 2D sub patterns side by side but by the code property itself. The code is designed in a way that any sub window of a minimal size guarantees uniqueness and that even occlusions from medical instruments can be handled. Experiments showed that we were able to estimate the C-Arm’s pose from a single image within one second with a precision below one millimeter and one degree.
Issue Date: 6-Sep-2008
Date of Acceptance: 6-Sep-2008
ISBN: 978-3-540-85989-5
ISSN: 0302-9743
Publisher: Springer
Start Page: 652
End Page: 659
Journal / Book Title: Lecture Notes in Computer Science
Volume: 5242
Issue: Medical Image Computing and Computer-Assisted Intervention – MICCAI 2008; 11th International Conference, New York, NY, USA, September 6-10, 2008, Proceedings, Part II
Copyright Statement: The final publication is available at Springer via
Conference Name: Medical Image Computing and Computer-Assisted Intervention – MICCAI 2008
Publication Status: Published
Start Date: 2008-09-06
Finish Date: 2008-09-10
Conference Place: New York, NY USA
Appears in Collections:Faculty of Engineering

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