Catheter UKF

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Catheter UKF#

This project implements an unscented Kalman filter for our catheter tracking projects. The filter is aware of the fixed-distance constraint between the distal and proximal coils.

It is based on the reference Unscented Kalman Filtering on Riemannian Manifolds by Søren Hauberg, François Lauze, and Kim Steenstrup Pedersen.

Language used in the filter is inspired by the reference (e.g., “Log” and “Exp”).

Usage#

A specific example of use in code can be found in cathy.cli.apply_ukf.

The basic flow is:

  • Create a ukf object using something like ukf = catheter_ukf.UKF(),

  • Create initial parameters x, P = ukf.ukf.estimate_initial_state(distal_coord, proximal_coord)

  • Filter points sequentially x, P = ukf.filter(x, P, datapoint)

  • Translate states back into catheter coordinates t, d, p = ukf.tip_and_coils(x)

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