Automatic Orientation Estimation of Inertial Sensors in C-Arm CT Projections

Mareike Thies 1 , Jennifer Maier 2 , Björn Eskofier 2 , Andreas Maier 2 , Marc Levenston 3 , Garry Gold 3 , and Rebecca Fahrig 4
  • 1 Friedrich-Alexander-Universität Erlangen-Nürnberg,, Erlangen, Germany
  • 2 Friedrich-Alexander-Universitat Erlangen-Nurnberg,, Erlangen, Germany
  • 3 Stanford University,, Stanford, USA
  • 4 Siemens Healthcare GmbH,, Erlangen, Germany


To obtain CT images of the knee joint in a more lifelike position, data acquisition can be performed with patients in standing rather than in lying position. However, in that situation, people tend to show involuntary motion. One possibility to compensate for that motion is the use of Inertial Measurement Units, that capture the accelerations during the scan. For this purpose, their local coordinate system needs to be known. An estimation based on the SIFT algorithm was implemented and compared to an existing approach that uses the Fast Radial Symmetry transform and to expert labels for evaluation. The SIFT method showed to be superior to the existing approach as it could extract stable feature points from the projections that were used to estimate the three-dimensional coordinate system in a reliable manner. The final algorithm achieved a mean euclidean distance of 2.61 mm between the calculated position of the origin and the assumed ground truth by the expert labels.

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