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On Ambiguity in 6-DoF Electromagnetic Pose Estimation Systems
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DOI：10.1109/tmech.2025.3649744.png)
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Abstract
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Magnetic pose estimation is an accurate, noncontacting pose tracking method that is insusceptible to occlusion, making it widely used for tracking intracorporeal medical robots and devices in minimally invasive interventions. However, the ambiguity problem in magnetic pose estimation has been long overlooked that could result in inaccuracy and even divergence of pose tracking. This article is devoted to fundamentally investigating the ambiguity issue in 6-DoF electromagnetic pose estimation systems. Magnetic ambiguity is formally defined, and its existence and impacts on pose estimation are analyzed for single-magnet and dual-magnet tracking systems, then generalized to multiple-magnet systems. It is found that there are different types of ambiguity, each with distinct influence on pose estimation. Efficient algorithms are proposed to systematically identify all ambiguous poses in a workspace. The ambiguity in typical configurations of dual-magnet systems is identified and discussed. It is found that ambiguity can be completely eliminated by using at least THREE magnetic sources. An unambiguous tri-magnet system is proposed by combining the collocated and parallel dual-magnet systems and validated by tracking a continuum robot. This article lays the foundation for optimizing configurations of magnetic sources and designing compact, energy-efficient, but unambiguous magnetic tracking systems with minimum number of magnetic sources.
Keywords:
6-DoF pose estimation
ambiguity
localization
magnetic tracking
medical robots
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