A survey of electromagnetic position tracker calibration techniques

This paper is a comprehensive survey of various techniques used to calibrate electromagnetic position tracking systems. A common framework is established to present the calibration problem as the interpolation problem in 3D. All the known calibration techniques are classified into local and global methods and grouped according to their mathematical models Both the location error and the orientation error correction techniques are surveyed. Data acquisition devices and methods as well as publicly available software implementations are reviewed, too.