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Optimising Camera-ChArUco Geometry for Motion Compensation in Standing Equine CT: A CT-Motivated Benchtop Study.

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  • 1Department of Information Engineering, University of Florence, Via di Santa Marta 3, 50139 Florence, Italy.

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Summary

External optical tracking using ChArUco fiducials can compensate for motion during standing equine computed tomography (CT). Optimal camera-ChArUco geometry balances accuracy and precision for improved image quality in veterinary CT.

Keywords:
ChArUcocamera–marker geometrycomputed tomographyequinemotion compensation

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Area of Science:

  • Veterinary Imaging
  • Biomedical Engineering
  • Optical Tracking

Background:

  • Standing equine computed tomography (CT) is challenged by postural sway, leading to motion artifacts and reduced image quality.
  • External optical tracking with ChArUco fiducials offers a low-cost solution for motion compensation in CT imaging.
  • Limited quantitative data exists on how camera-marker geometry impacts pose estimation accuracy and precision.

Purpose of the Study:

  • To characterize the influence of camera-ChArUco configuration on pose estimation performance for motion compensation in standing equine CT.
  • To provide quantitative guidance on optimal camera and marker placement for improved CT image quality.

Main Methods:

  • A benchtop study utilized RGB images and OpenCV ChArUco detection to estimate rigid camera-to-board transformations.
  • Experiments systematically varied viewing angle, working distance, and acquisition protocol (continuous vs. cyclic repositioning).
  • Ground truth was established using a stepper-motor rotation stage and ruler measurements; performance was assessed via mean absolute error and standard deviation.

Main Results:

  • Cyclic repositioning showed no significant increase in variability compared to continuous acquisitions, supporting view-by-view sampling.
  • Viewing angle introduced an accuracy-precision trade-off: frontal views had lower bias but higher variability, while oblique views reduced jitter but increased bias.
  • Increased working distance degraded repeatability, particularly for depth estimation.

Conclusions:

  • Moderately oblique viewpoints, limited working distance, and sufficient image footprint are recommended for camera/marker placement.
  • Findings offer pre-clinical guidance for optimizing optical tracking systems for standing equine CT motion compensation.
  • This research facilitates improved image quality in veterinary CT applications.