Multi-rate unscented Kalman filtering for pose and curvature estimation in 3D ultrasound-guided needle steering
Sign Up to like & getrecommendations! Published in 2018 at "Control Engineering Practice"
DOI: 10.1016/j.conengprac.2018.08.014
Abstract: This paper presents a new method for estimating the needle pose and curvature in the context of robotically steered needles. The needle tip trajectory is represented by a modified unicycle kinematic model. A multi-rate unscented… read more here.
Keywords: rate unscented; unscented kalman; needle steering; pose curvature ... See more keywords