Chair for Computer Aided Medical Procedures & Augmented Reality
Lehrstuhl für Informatikanwendungen in der Medizin & Augmented Reality

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Inside-Out Tracking

Inside-Out Tracking

Scientific Director: Nassir Navab, Benjamin Frisch

Contact Person(s): Benjamin Frisch

In industrial collaboration with:

Keywords: Medical Imaging, Computer Vision, Ubiquitous Tracking, IFL


Current tracking solutions routinely used in a clinical, potentially surgically sterile, environment are limited to mechanical, electromagnetic or classic optical tracking. Main limitations of these technologies are respectively the size of the arm, the influence of ferromagnetic parts on the magnetic field and the line of sight between the cameras and tracking targets. These drawbacks limit the use of tracking in a clinical environment. The aim of this project is the development of so-called inside-out tracking, where one or more small cameras are fixed on clinical tools or robotic arms to provide tracking, both relative to other tools and static targets.
These developments are funded from the 1st of January 2016 to 31st of December 2017 by the ZIM project Inside-Out Tracking for Medical Applications (IOTMA).


Figure 1: A stereoscopic tracking system mounted on a robotic arm for inside-out tracking of surgical tools.


B. Busam, M. Esposito, B. Frisch, N. Navab
Quaternionic Upsampling: Hyperspherical Techniques for 6 D-o-F Pose Tracking
International Conference on 3DVision (3DV), Stanford University, California, USA, October 2016 (bib)
M. Esposito, B. Busam, C. Hennersperger, J. Rackerseder, N. Navab, B. Frisch
Multimodal US-Gamma Imaging using Collaborative Robotics for Cancer Staging Biopsies
International Journal of Computer Assisted Radiology and Surgery (bib)
B. Busam, M. Esposito, S. Che'Rose, N. Navab, B. Frisch
A Stereo Vision Approach for Cooperative Robotic Movement Therapy
International Conference on Computer Vision Workshop (ICCVW), Santiago, Chile, December 2015 [oral]. (bib)
M. Esposito, B. Busam, C. Hennersperger, J. Rackerseder, A. Lu, N. Navab, B. Frisch
Cooperative Robotic Gamma Imaging: Enhancing US-guided Needle Biopsy
Proceedings of the 18th International Conference on Medical Image Computing and Computer Assisted Interventions (MICCAI), Munich, Germany, October 2015 [oral]. (bib)


Contact Person(s)

Benjamin Frisch
Dr. Benjamin Frisch

Working Group

Benjamin Busam
M.Sc. Benjamin Busam
Benjamin Frisch
Dr. Benjamin Frisch
Christoph Hennersperger
Dr. Christoph Hennersperger
Marco Esposito
M.Sc. Marco Esposito
Salvatore Virga
M.Sc. Salvatore Virga


Philipp Matthies
Dipl.-Phys. Univ. Philipp Matthies
Vasileios Belagiannis
Dr. Vasileios Belagiannis


Technische Universität München
Institut für Informatik / I16
Boltzmannstr. 3
85748 Garching bei München

Tel.: +49 89 289-17058
Fax: +49 89 289-17059
Visit our lab at Garching.

Klinikum rechts der Isar
der Technischen Universitüt München
Ismaninger Str. 22
81675 München

IFL Lab - Room: 01.3a-c
Tel.: +49 89 4140-6457
Fax: +49 89 4140-6458
Visit our lab at Klinikum rechts der Isar.

internal project page

Please contact Benjamin Frisch for available student projects within this research project.

Edit | Attach | Refresh | Diffs | More | Revision r1.2 - 15 Mar 2015 - 11:26 - SebastianPoelsterl

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