Merging virtual objects with the real world: seeing ultrasound imagery within the patient
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
Superior augmented reality registration by integrating landmark tracking and magnetic tracking
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Introductory Techniques for 3-D Computer Vision
Introductory Techniques for 3-D Computer Vision
Recent Advances in Augmented Reality
IEEE Computer Graphics and Applications
Hybrid Inertial and Vision Tracking for Augmented Reality Registration
VR '99 Proceedings of the IEEE Virtual Reality
A Flexible Tracking Concept Applied to Medical Scenarios Using an AR Window
ISMAR '02 Proceedings of the 1st International Symposium on Mixed and Augmented Reality
Marker Tracking and HMD Calibration for a Video-Based Augmented Reality Conferencing System
IWAR '99 Proceedings of the 2nd IEEE and ACM International Workshop on Augmented Reality
Merging Visible and Invisible: Two Camera-Augmented Mobile C-Arm (CAMC) Applications
IWAR '99 Proceedings of the 2nd IEEE and ACM International Workshop on Augmented Reality
Augmented Reality Visualization of Ultrasound Images: System Description, Calibration, and Features
ISAR '01 Proceedings of the IEEE and ACM International Symposium on Augmented Reality (ISAR'01)
Hybrid Indoor and Outdoor Tracking for Mobile 3D Mixed Reality
ISMAR '03 Proceedings of the 2nd IEEE/ACM International Symposium on Mixed and Augmented Reality
Occlusion handling for medical augmented reality using a volumetric phantom model
Proceedings of the ACM symposium on Virtual reality software and technology
Automatic patient registration for port placement in minimally invasive endoscopic surgery
MICCAI'05 Proceedings of the 8th international conference on Medical image computing and computer-assisted intervention - Volume Part II
Medical augmented reality based on commercial image guided surgery
EGVE'04 Proceedings of the Tenth Eurographics conference on Virtual Environments
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Camera pose estimation is one of the most important, but also one of the most challenging tasks in augmented reality. Without a highly accurate estimation of the position and orientation of the digital video camera, it is impossible to render a spatially correct overlay of graphical information. This requirement is even more crucial in medical applications, where virtual objects typically have to be correctly aligned with the patient. Many experimental AR systems use specialized tracking devices, which usually are not certified for medical settings. We have developed an AR framework for surgical applications based on existing medical equipment. A surgical navigation device delivers tracking information measured by a built-in infrared camera system, which is the basis for the pose estimation of the AR video camera. However, depending on the conditions in the environment, this infrared pose data can contain discernible tracking errors. One main drawback of the medical tracking device is the fact that, while it delivers a very high positional accuracy, the reported camera orientation can contain a relatively large error. In this article, we present a hybrid tracking scheme for medical augmented reality based on a certified medical tracking system. The final pose estimation takes the initial infrared tracking data as well as salient features in the camera image into account. The vision-based component of the tracking algorithm relies on a pre-defined graphical model of the observed scene. The infrared and vision-based tracking data are tightly integrated into a unified pose estimation algorithm. This algorithm is based on an iterative numerical optimization method. We describe an implementation of the algorithm and present experimental data showing that our new method is capable of delivering a more accurate pose estimation.