{"id":"https://openalex.org/W2161998696","doi":"https://doi.org/10.1109/iros.2004.1389796","title":"Kalman filtering for real-time orientation tracking of handheld microsurgical instrument","display_name":"Kalman filtering for real-time orientation tracking of handheld microsurgical instrument","publication_year":2005,"publication_date":"2005-04-01","ids":{"openalex":"https://openalex.org/W2161998696","doi":"https://doi.org/10.1109/iros.2004.1389796","mag":"2161998696"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2004.1389796","doi":"https://doi.org/10.1109/iros.2004.1389796","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389796","pdf_url":null,"source":{"id":"https://openalex.org/S4393918188","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":"2153-0858","issn":["2153-0858"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5002794481","display_name":"Wei Tech Ang","orcid":"https://orcid.org/0000-0002-5778-7719","observed_orcids":["https://orcid.org/0000-0002-5778-7719"]},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei Tech Ang","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103011933","display_name":"P.K. Khosla","orcid":"https://orcid.org/0000-0002-0509-2018","observed_orcids":["https://orcid.org/0000-0002-0509-2018"]},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"P.K. Khosla","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050697502","display_name":"Cameron N. Riviere","orcid":"https://orcid.org/0000-0002-6749-3140","observed_orcids":["https://orcid.org/0000-0002-6749-3140"]},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C.N. Riviere","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":8.5663,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":{"value":0.98763707,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":87,"max":98},"biblio":{"volume":"3","issue":null,"first_page":"2574","last_page":"2580"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.0026000000070780516,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":9.999999747378752e-05,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7950000166893005},{"id":"https://openalex.org/keywords/orientation-tracking","display_name":"orientation tracking","score":0.9279999732971191},{"id":"https://openalex.org/keywords/quaternions","display_name":"quaternions","score":0.6470000147819519},{"id":"https://openalex.org/keywords/augmented-state-estimation","display_name":"augmented state estimation","score":0.8730000257492065},{"id":"https://openalex.org/keywords/magnetometer","display_name":"magnetometer","score":0.800000011920929},{"id":"https://openalex.org/keywords/accelerometer","display_name":"accelerometer","score":0.6150000095367432},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"inertial measurement unit","score":0.9810000061988831},{"id":"https://openalex.org/keywords/microsurgery","display_name":"microsurgery","score":0.5979999899864197},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"sensor fusion","score":0.37700000405311584}],"concepts":[{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.7658538818359375},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7642982006072998},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.744260311126709},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.7062901258468628},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5979176759719849},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.546613335609436},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5172110795974731},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.46838003396987915},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4677220582962036},{"id":"https://openalex.org/C153946474","wikidata":"https://www.wikidata.org/wiki/Q333921","display_name":"Magnetometer","level":3,"score":0.4170815944671631},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4162415564060211},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19959107041358948},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1826607584953308},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2004.1389796","doi":"https://doi.org/10.1109/iros.2004.1389796","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389796","pdf_url":null,"source":{"id":"https://openalex.org/S4393918188","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":"2153-0858","issn":["2153-0858"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W192968364","https://openalex.org/W1493330415","https://openalex.org/W1835163229","https://openalex.org/W2006863675","https://openalex.org/W2063005413","https://openalex.org/W2064158457","https://openalex.org/W2084265598","https://openalex.org/W2094201513","https://openalex.org/W2098408745","https://openalex.org/W2099345611","https://openalex.org/W2105990775","https://openalex.org/W2107556327","https://openalex.org/W2109453544","https://openalex.org/W2117102490","https://openalex.org/W2121990344","https://openalex.org/W2122093596","https://openalex.org/W2137553607","https://openalex.org/W2152607034","https://openalex.org/W2170714800","https://openalex.org/W2532146065"],"related_works":["https://openalex.org/W2127898977","https://openalex.org/W2120826632","https://openalex.org/W1982356444","https://openalex.org/W2079643984","https://openalex.org/W3088412635","https://openalex.org/W2152607034","https://openalex.org/W2134373387","https://openalex.org/W2040378481","https://openalex.org/W2124210700","https://openalex.org/W2199469138"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,56,63,77,83,88,107,111,117],"theory":[4],"and":[5,85,115],"modeling":[6],"of":[7,18,40,76,82,87,110],"a":[8,19,25,47,69,98],"quaternion-based":[9],"augmented":[10],"state":[11],"Kalman":[12,95],"filter":[13,96],"for":[14],"real-time":[15],"orientation":[16,41,73,100],"tracking":[17],"handheld":[20],"microsurgical":[21],"instrument":[22,112],"equipped":[23],"with":[24,62,102],"magnetometer-aided":[26],"all-accelerometer":[27,44],"inertial":[28],"measurement":[29],"unit":[30],"(IMU).":[31],"The":[32,43,93],"onboard":[33],"sensing":[34],"system":[35],"provides":[36,46],"two":[37],"complementary":[38],"sources":[39],"information.":[42],"IMU":[45],"high":[48],"resolution":[49,104],"but":[50,71],"drifting":[51],"angular":[52,118],"velocity":[53,119],"estimate,":[54],"while":[55],"magnetic":[57],"north":[58],"vector":[59,66],"is":[60],"combined":[61],"estimated":[64],"gravity":[65],"to":[67],"yield":[68],"non-drifting":[70,99],"noisy":[72],"estimate.":[74],"Analysis":[75],"dominant":[78],"stochastic":[79],"noise":[80,89],"components":[81],"sensors":[84],"derivation":[86],"covariance":[90],"are":[91],"presented.":[92],"proposed":[94],"obtains":[97],"estimate":[101],"improved":[103],"by":[105],"incorporating":[106],"motion":[108],"dynamics":[109],"during":[113],"microsurgery":[114],"models":[116],"drift":[120],"explicitly":[121],"as":[122],"extra":[123],"dynamic":[124],"states.":[125]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":4},{"year":2014,"cited_by_count":5},{"year":2012,"cited_by_count":3}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2016-06-24T00:00:00"}
