RGBDカメラとIMUを用いたモックアップ超音波プローブの位置姿勢推定

抄録

We have been developing an education system for immature nurses to improve vein puncture skills using ultrasonography. As a part of the system, we propose a method to estimate the postion and orientation of a mock-up probe using RGBD-camera and 6-axis IMU. The method estimates 3d position of the probe from color and depth image. The method also calculates orientation of the probe using Madgwick filter from 3-axis acceleration and gyro data. The method compensates the calculated orientation using ICP algorithm. As an experiment, a user imitated probe movement and several methods estimated the 3d position and orientation of the probe. The proposed method reduced yaw and pitch angle errors by an average of 4.80° and 1.16°, respectively, compared with the method using only Madgwick filter. This result indicates that the method has potential for use in the educational system if the movement of the probe is limited.