Metric-Based Evaluation of Fiducial Markers for Medical Procedures

Christian Kunz*, Vera Genten, Pascal Meissner, Bjoern Hein

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingPublished conference contribution

6 Citations (Scopus)

Abstract

The accurate tracking of patients during a surgery is an essential requirement of computer assisted surgery. Many tracking systems are based on permanently installed infrared camera systems to detect reflective spheres. These tracking concepts need a certain amount of installation effort and are associated with high investments. An alternative are planar fiducial markers, which can be tracked only through RGB data and can therefore be used with different camera systems. The objective of this work is to introduce a set of similarity metrics to compare fiducial markers for pose estimation. We propose eight different similarity metrics to unify the process of evaluation and comparison of marker systems. These are the size and outer margin of the marker, the distance to the camera, the pose estimation accuracy, the runtime of the algorithm, the robustness against external influences, the affection to the sensor system and the number of used markers. We also describe the methodology for evaluating these metrics. We then apply these metrics to compare the ArUco and AprilTag open source marker systems. Our tests conclude that the optical tracking of open source fiducial markers is possible at submillimeter range at distances up to one meter. In addition, the tracking result can be greatly improved by using multiple markers. Accuracy is increased and fluctuations are minimized. The similarity metrics presented by us are suitable for evaluating and comparing marker systems in detail. This can serve as a basis for selecting a suitable system for a specific medical procedure.

Original languageEnglish
Title of host publicationMEDICAL IMAGING 2019: IMAGE-GUIDED PROCEDURES, ROBOTIC INTERVENTIONS, AND MODELING
EditorsB Fei, CA Linte
PublisherSPIE - INT SOC OPTICAL ENGINEERING
Number of pages14
DOIs
Publication statusPublished - 8 Mar 2019
EventConference on Medical Imaging - Image-Guided Procedures, Robotic Interventions, and Modeling - San Diego, Canada
Duration: 17 Feb 201919 Feb 2019

Publication series

NameProceedings of SPIE
PublisherSPIE-INT SOC OPTICAL ENGINEERING
Volume10951
ISSN (Print)0277-786X

Conference

ConferenceConference on Medical Imaging - Image-Guided Procedures, Robotic Interventions, and Modeling
Country/TerritoryCanada
CitySan Diego
Period17/02/1919/02/19

Keywords

  • fiducial markers
  • marker-based tracking
  • computer assisted surgery
  • weights and measures
  • aruco
  • apriltag

Fingerprint

Dive into the research topics of 'Metric-Based Evaluation of Fiducial Markers for Medical Procedures'. Together they form a unique fingerprint.

Cite this