{"id":"https://openalex.org/W2044949985","doi":"https://doi.org/10.1109/tim.2013.2248304","title":"Unscented Kalman Filter Based Sensor Fusion for Robust Optical and Electromagnetic Tracking in Surgical Navigation","display_name":"Unscented Kalman Filter Based Sensor Fusion for Robust Optical and Electromagnetic Tracking in Surgical Navigation","publication_year":2013,"publication_date":"2013-03-18","ids":{"openalex":"https://openalex.org/W2044949985","doi":"https://doi.org/10.1109/tim.2013.2248304","mag":"2044949985"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2013.2248304","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2013.2248304","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Instrumentation and Measurement","raw_type":"journal-article"},"type":"article","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/A5039361949","display_name":"Alberto Vaccarella","orcid":null},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Alberto Vaccarella","raw_affiliation_strings":["NearLab, Department of Electronics, Information and Bioengineering Department, Politecnicodi Milano, Milan, Italy"],"affiliations":[{"raw_affiliation_string":"NearLab, Department of Electronics, Information and Bioengineering Department, Politecnicodi Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083795699","display_name":"Elena De Momi","orcid":"https://orcid.org/0000-0002-8819-2734"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Elena De Momi","raw_affiliation_strings":["Consiglio Nazionale delle Ricerche, Istituto di Tecnologie Industriali ed Automazione, Milan, Italy","NearLab, Department of Electronics, Information and Bioengineering Department, Politecnico di Milano, Milano, Italy"],"affiliations":[{"raw_affiliation_string":"Consiglio Nazionale delle Ricerche, Istituto di Tecnologie Industriali ed Automazione, Milan, Italy","institution_ids":[]},{"raw_affiliation_string":"NearLab, Department of Electronics, Information and Bioengineering Department, Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013215019","display_name":"Daniel A. Enquobahrie","orcid":"https://orcid.org/0000-0001-9844-0597"},"institutions":[{"id":"https://openalex.org/I74786994","display_name":"Kitware (United States)","ror":"https://ror.org/02s2acn37","country_code":"US","type":"company","lineage":["https://openalex.org/I74786994"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andinet Enquobahrie","raw_affiliation_strings":["Kitware, Inc., Carrboro, NC, USA"],"affiliations":[{"raw_affiliation_string":"Kitware, Inc., Carrboro, NC, USA","institution_ids":["https://openalex.org/I74786994"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045080493","display_name":"Giancarlo Ferrigno","orcid":"https://orcid.org/0000-0001-5913-9451"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giancarlo Ferrigno","raw_affiliation_strings":["NearLab, Department of Electronics, Information and Bioengineering Department, Politecnicodi Milano, Milan, Italy"],"affiliations":[{"raw_affiliation_string":"NearLab, Department of Electronics, Information and Bioengineering Department, Politecnicodi Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5039361949"],"corresponding_institution_ids":["https://openalex.org/I93860229"],"apc_list":null,"apc_paid":null,"fwci":171.007,"has_fulltext":false,"cited_by_count":85,"citation_normalized_percentile":{"value":0.99927826,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"62","issue":"7","first_page":"2067","last_page":"2081"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987000226974487,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987000226974487,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9968000054359436,"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/T10888","display_name":"Augmented Reality Applications","score":0.9940000176429749,"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":0.6983869075775146},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.666347086429596},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5901094675064087},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5677926540374756},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5435478687286377},{"id":"https://openalex.org/keywords/distortion","display_name":"Distortion (music)","score":0.4320334494113922},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.43015530705451965}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6983869075775146},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.666347086429596},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5901094675064087},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5677926540374756},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5435478687286377},{"id":"https://openalex.org/C126780896","wikidata":"https://www.wikidata.org/wiki/Q899871","display_name":"Distortion (music)","level":4,"score":0.4320334494113922},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.43015530705451965},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.0},{"id":"https://openalex.org/C194257627","wikidata":"https://www.wikidata.org/wiki/Q211554","display_name":"Amplifier","level":3,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tim.2013.2248304","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2013.2248304","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Instrumentation and Measurement","raw_type":"journal-article"},{"id":"pmh:oai:re.public.polimi.it:11311/687236","is_oa":false,"landing_page_url":"http://hdl.handle.net/11311/687236","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1531532259","https://openalex.org/W1831330114","https://openalex.org/W1919682157","https://openalex.org/W1957895036","https://openalex.org/W1963903329","https://openalex.org/W1964283422","https://openalex.org/W1965296501","https://openalex.org/W1967882559","https://openalex.org/W1972109469","https://openalex.org/W1977259876","https://openalex.org/W1987385933","https://openalex.org/W2003692543","https://openalex.org/W2006485654","https://openalex.org/W2011191117","https://openalex.org/W2017363989","https://openalex.org/W2020934227","https://openalex.org/W2040833452","https://openalex.org/W2055608117","https://openalex.org/W2069362228","https://openalex.org/W2070927739","https://openalex.org/W2072070426","https://openalex.org/W2083362302","https://openalex.org/W2089694081","https://openalex.org/W2105320369","https://openalex.org/W2108817574","https://openalex.org/W2114684253","https://openalex.org/W2117772657","https://openalex.org/W2121754060","https://openalex.org/W2122702446","https://openalex.org/W2123487311","https://openalex.org/W2126201524","https://openalex.org/W2131772268","https://openalex.org/W2131892567","https://openalex.org/W2138713746","https://openalex.org/W2154483087","https://openalex.org/W2155440048","https://openalex.org/W2155690272","https://openalex.org/W2161098086","https://openalex.org/W2163242350","https://openalex.org/W2171615854","https://openalex.org/W2525599034","https://openalex.org/W2986796555","https://openalex.org/W4249139418","https://openalex.org/W6641067773","https://openalex.org/W6654692672","https://openalex.org/W6655473528"],"related_works":["https://openalex.org/W1580685205","https://openalex.org/W2760382975","https://openalex.org/W2103761320","https://openalex.org/W2358167375","https://openalex.org/W2031992971","https://openalex.org/W116564642","https://openalex.org/W1983380679","https://openalex.org/W1981649169","https://openalex.org/W2357354286","https://openalex.org/W2388705266"],"abstract_inverted_index":{"Computer-aided":[0],"surgery":[1],"systems":[2,35,40,43],"provide":[3,62],"visual":[4],"guidance":[5],"to":[6,50,86,148,171,214,221,236],"surgeons":[7],"by":[8],"showing":[9],"the":[10,22,58,72,89,130,169,173,176,183,207,249,264,273,283,287,292],"real-time":[11],"pose":[12,266],"of":[13,21,74,91,99,104,129,139,151,159,168,175,192,206,263,289,294],"surgical":[14,100],"instruments":[15],"overlaid":[16],"on":[17,135,241],"preoperative":[18],"medical":[19],"images":[20],"patient.":[23],"Surgical":[24],"instrument":[25,265],"poses":[26],"are":[27],"localized":[28],"in":[29,52,71,182,291],"space":[30],"using":[31,219],"mainly":[32],"optical":[33,160,225,242],"tracking":[34,39,98],"(OTS)":[36],"and":[37,65,93,95,106,179,198,276],"electromagnetic":[38,208],"(EMTS).":[41],"OTS":[42,92,105,197],"require":[44],"clear":[45],"line-of-sight,":[46],"which":[47],"is":[48,146,234],"difficult":[49],"ensure":[51],"current":[53],"overcrowded":[54],"operating":[55],"rooms.":[56],"On":[57],"other":[59,152],"hand,":[60],"EMTSs":[61],"less":[63],"accuracy":[64,288],"suffer":[66],"from":[67],"magnetic":[68,295],"field":[69,296],"distortion":[70],"presence":[73,293],"metal":[75],"objects.":[76],"In":[77,157],"this":[78],"paper,":[79],"we":[80],"propose":[81],"a":[82,113,136,237,260,278],"sensor":[83,118,230],"fusion":[84,119,186,231],"algorithm":[85,120,164,187,285],"compensate":[87,222],"for":[88,144,223,253],"drawbacks":[90],"EMTS,":[94],"achieve":[96],"robust":[97],"instruments.":[101],"Spatial":[102],"alignment":[103],"EMTS":[107,170,199,216,290],"data":[108,243],"will":[109,165,188,211],"be":[110,212],"achieved":[111],"through":[112],"calibration":[114],"procedure.":[115],"The":[116,185,228],"proposed":[117,229,284],"uses":[121],"an":[122,127,193,203,268],"unscented":[123],"Kalman":[124,132],"filter":[125,133],"(UKF),":[126],"extension":[128],"standard":[131],"based":[134,240],"deterministic":[137],"sampling":[138],"nonlinear":[140],"functions.":[141],"Quaternion":[142],"representation":[143],"rotations":[145],"used":[147,213],"avoid":[149],"singularities":[150],"parameterizations":[153],"(e.g.,":[154],"Euler":[155],"angles).":[156],"cases":[158],"marker":[161,255],"occlusion,":[162],"our":[163],"take":[166],"advantage":[167],"estimate":[172,205,262],"position":[174],"hidden":[177],"marker(s)":[178],"feed":[180],"it":[181,220],"UKF.":[184],"also":[189],"keep":[190],"track":[191],"error":[194,269],"matrix":[195],"between":[196],"measured":[200],"poses,":[201],"providing":[202,259],"up-to-date":[204],"distortion.":[209,297],"This":[210],"correct":[215],"measurement":[217],"before":[218],"possible":[224],"line-of-sight":[226],"occlusions.":[227],"(SF)":[232],"method":[233],"compared":[235],"predictive":[238],"UKF":[239],"(NSF).":[244],"Our":[245],"results":[246],"show":[247],"that":[248],"SF":[250],"effectively":[251],"compensates":[252],"short":[254],"occlusion":[256],"(nine":[257],"samples)":[258],"continuous":[261],"with":[267],"significantly":[270],"lower":[271],"than":[272],"NSF":[274],"method,":[275],"reaching":[277],"clinically":[279],"acceptable":[280],"accuracy.":[281],"Furthermore,":[282],"increases":[286]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":11},{"year":2013,"cited_by_count":1}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}