TY - CONF A1 - Pulwer, Silvio A1 - Fiebelkorn, Richard A1 - Zesch, Christoph A1 - Steglich, Patrick A1 - Villringer, Claus A1 - Villasmunta, Francesco A1 - Gedat, Egbert A1 - Handrich, Jan A1 - Schrader, Sigurd A1 - Vandenhouten, Ralf T1 - Endoscopic orientation by multimodal data fusion TI - Proc. SPIE 10931, MOEMS and Miniaturized Systems XVIII N2 - To improve the feasibility of endoscopic inspection processes we developed a system that provides online information about position, orientation and viewing direction of endoscopes, to support the analysis of endoscopic images and to ease the operational handling of the equipment. The setup is based on an industrial endoscope consisting of a camera, various MEMS and multimodal data fusion. The software contains algorithms for feature and geometric structure recognition as well as Kalman filters. To track the distal end of the endoscope and to generate 3D point cloud data in real time the optical and photometrical characteristics of the system are registered and the movement of the endoscope is reconstructed by using image processing techniques. KW - endoscope KW - orientation KW - Kalman filter KW - visual odometry KW - mems KW - gyroscope KW - accelerometer Y1 - 2019 UR - https://opus4.kobv.de/opus4-th-wildau/frontdoor/index/index/docId/1142 UR - https://nbn-resolving.org/urn:nbn:de:kobv:526-opus4-11420 SN - 1996-756X ER -