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Article

Concept for Markerless 6D Tracking Employing Volumetric Optical Coherence Tomography

Institute of Medical Technology, Hamburg University of Technology, 21073 Hamburg, Germany
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Author to whom correspondence should be addressed.
These authors contributed equally to this work.
Sensors 2020, 20(9), 2678; https://doi.org/10.3390/s20092678
Received: 18 March 2020 / Revised: 21 April 2020 / Accepted: 5 May 2020 / Published: 8 May 2020
(This article belongs to the Section Optical Sensors)
Optical tracking systems are widely used, for example, to navigate medical interventions. Typically, they require the presence of known geometrical structures, the placement of artificial markers, or a prominent texture on the target’s surface. In this work, we propose a 6D tracking approach employing volumetric optical coherence tomography (OCT) images. OCT has a micrometer-scale resolution and employs near-infrared light to penetrate few millimeters into, for example, tissue. Thereby, it provides sub-surface information which we use to track arbitrary targets, even with poorly structured surfaces, without requiring markers. Our proposed system can shift the OCT’s field-of-view in space and uses an adaptive correlation filter to estimate the motion at multiple locations on the target. This allows one to estimate the target’s position and orientation. We show that our approach is able to track translational motion with root-mean-squared errors below 0.25 mm and in-plane rotations with errors below 0.3°. For out-of-plane rotations, our prototypical system can achieve errors around 0.6°. View Full-Text
Keywords: markerless tracking; tracking systems; optical coherence tomography; motion estimation markerless tracking; tracking systems; optical coherence tomography; motion estimation
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MDPI and ACS Style

Schlüter, M.; Glandorf, L.; Gromniak, M.; Saathoff, T.; Schlaefer, A. Concept for Markerless 6D Tracking Employing Volumetric Optical Coherence Tomography. Sensors 2020, 20, 2678. https://doi.org/10.3390/s20092678

AMA Style

Schlüter M, Glandorf L, Gromniak M, Saathoff T, Schlaefer A. Concept for Markerless 6D Tracking Employing Volumetric Optical Coherence Tomography. Sensors. 2020; 20(9):2678. https://doi.org/10.3390/s20092678

Chicago/Turabian Style

Schlüter, Matthias, Lukas Glandorf, Martin Gromniak, Thore Saathoff, and Alexander Schlaefer. 2020. "Concept for Markerless 6D Tracking Employing Volumetric Optical Coherence Tomography" Sensors 20, no. 9: 2678. https://doi.org/10.3390/s20092678

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