Position and Orientation Estimation in Magnetic Tracking Using Weighted Coefficients Combined with Monte Carlo Algorithm

In the literature, fast or real-time magnetic tracking is conventionally achieved by using optimization or machine learning, which requires intensive computation, large computer memory usage and/or tedious data preparation. This could result in high cost and low adaptability of the tracking systems. To address these issues, a combined approach of using weighted coefficients and Monte Carlo algorithm is put forward and analyzed in this paper. The analysis is based on simulating the scenario of tracking a spherical magnetic marker with a diameter of 15 mm within a $200\times 200\times 200\text{mm}^{3}$ cuboid region, which is suitable for capsule endoscopy. The statistics of 10,000 case studies show that the approach achieves, averagely, 91.84% position tracking accuracy and 93.97% orientation tracking accuracy with a tracking frequency of 909.1 Hertz.