Abstract

The aim of this diploma thesis is a fusion of optical and electromagnetic tracking systems with the motivation of improving guidence techniques for minimal inversive surgery. I will combine different tracking systems with different properties like accuracy and availability. The intuitive solution for fusion of two systems would be using the more accurate one if available and switch to the second one when the data of the more accurate are not available. Within this work I will try to get an even better result by statistically combining the two systems with help of several (federated) Kalman Filters.

Results/Implementation/Project Description

Conclusion

[ Slides Kickoff/Final (optional)]