Home // ACHI 2026, The Nineteenth International Conference on Advances in Computer-Human Interactions // View article
Authors:
Syahid Al Irfan
Oky Dicky Ardiansyah Prima
Keywords: 3D ultrasound; Pose estimation; Multi marker tracking; Volumetric reconstruction.
Abstract:
This study evaluates marker-based pose estimation methods for freehand three-dimensional (3D) ultrasound reconstruction by comparing single-marker and multi-marker configurations and analyzing their effects on reconstruction accuracy and pose stability. Although vision-based fiducial markers provide a low-cost and compact alternative to optical or electromagnetic tracking systems, their performance can degrade due to occlusion, motion blur, and variations in viewing angle. To improve robustness, multi-marker rigs arranged on polyhedral structures maintain visibility across multiple faces. In this study, both configurations were calibrated to a shared coordinate system and applied to breast-phantom data containing spherical inclusions with known diameters (5 mm and 10 mm). Ultrasound images and marker-tracking videos were recorded simultaneously, and each frame was paired with its corresponding six-degree-of-freedom (6-DoF) pose for volumetric reconstruction. The reconstructed inclusions were segmented and compared with ground-truth volumes, and statistical analysis was conducted using two-way Analysis of Variance (ANOVA)[AS1.1] with object diameter and tracking methods as factors. The results show that multi-marker tracking consistently reduced volumetric error and variability, achieving the lowest mean error of 12.1 mm³ for 5-mm inclusions, whereas the single-marker configuration produced larger errors, particularly for 10-mm inclusions. ANOVA revealed significant main effects for both diameter and tracking methods. These findings indicate that multi-marker configurations improve pose robustness and enhance reconstruction accuracy in freehand 3D ultrasound systems
Pages: 23 to 28
Copyright: Copyright (c) IARIA, 2026
Publication date: May 24, 2026
Published in: conference
ISSN: 2308-4138
ISBN: 978-1-68558-383-5
Location: Venice, Italy
Dates: from May 24, 2026 to May 28, 2026