Enhancements have been made in the development of a real-time optical pose measurement and tracking system that provides 3D position and orientation data for a single photon emission computed tomography (SPECT) imaging system for awake, unanesthetized, unrestrained small animals. Three optical cameras with infrared (IR) illumination view the head movements of an animal enclosed in a transparent burrow. Markers placed on the head provide landmark points for image segmentation. Strobed IR LED's

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... e synchronized to the cameras and illuminate the markers to prevent motion blur for each set of images. The system using the three cameras automatically segments the markers, detects missing data, rejects false reflections, performs trinocular marker correspondence, and calculates the 3D pose of the animal's head. Improvements have been made in methods for segmentation, tracking, and 3D calculation to give higher speed and more accurate measurements during a scan. The optical hardware has been installed within a Siemens MicroCAT II small animal scanner at Johns Hopkins without requiring functional changes to the scanner operation. The system has undergone testing using both phantoms and live mice and has been characterized in terms of speed, accuracy, robustness, and reliability. Experimental data showing these motion tracking results are given. 978-1-4244-2715-4/08/$25.00 <92008 IEEE