Author
Güzel, Aydın Emre, Hisar, Dilara, Claesen, L., Uğurdağ, Hasan Fatih
Publication Date
2020-10-05
Publication Place
-
IEEE
Subject
Incremental algorithms, Least squares optimizations, Pose estimation
Type
Document
Language
English
Digital
Yes
Manuscript
No
Library
Özyeğin University
Library Asset ID
978-1-7281-7206-4
Record ID
f17fb732-2fb5-4841-9283-d2dc934d3aa3
Library Location
Electrical & Electronics Engineering
Date
2020-10-05
Sample Text
6 DoF position and orientation estimation is vital for many real-time applications. It is essential to meet low latency, high accuracy and reliability requirements, especially when used for real-time haptic feedback calculation in medical applications. Considering the low latency requirement, designing dedicated hardware promises significant improvements relative to running software on the processor. In our jaw surgery application, we aim to calculate the pose of the rigid object with the tracked marker from the rolling shutter camera by exploiting parallelism and pipe-lining concepts under 1 millisecond latency without sacrificing accuracy on field programmable gate arrays (FPGA) to flow from the camera with rolling shutter effect. Therefore, the iterative least squared algorithm, which is used with high precision in the current applications, has been given an incremental shape to react within the same frame according to the instantaneous data. The algorithm was evaluated by testing with different parameters over the software with synthetically produced fixed and rolling shutter effect images.
DOI
10.1109/SIU49456.2020.9302192
