LARK: A Low-Cost, Accurate, Occlusion-Resilient, Kalman Filter-Assisted Tracking System for Image-Guided Surgery
Image-guided surgery (IGS) depends on accurate tracking of surgical instruments to provide real-time navigation relative to anatomical structures. Commercial stereo infrared trackers are accurate but prone to occlusion and cost-prohibitive for many settings. This work presents LARK, a multi-camera optical tracking system using commodity RGB hardware and multi-view redundancy and fusion. We develop and evaluate two complete tracking methods: multi-view monocular pose fusion and multi-view triangulation. Both methods are assessed under varying occlusion levels using a precision-machined grid and an anatomical head phantom, and compared against a gold-standard stereo infrared system. With fi...
| Authors | George Sideris, Justin Cree, Andrew Stirling et al. |
|---|---|
| Primary category | cs.CV |
| Published | 6 October 2026 |
| Last updated at source | 6 October 2026 |
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