Graph-based Pose Estimation of Texture-less Surgical Tools for Autonomous Robot Control
Haozheng Xu,Mark Runciman,João Cartucho,Chi Xu,Stamatia Giannarou,Haozheng Xu,Mark Runciman,João Cartucho,Chi Xu,Stamatia Giannarou
In Robot-assisted Minimally Invasive Surgery (RMIS), the estimation of the pose of surgical tools is crucial for applications such as surgical navigation, visual servoing, autonomous robotic task execution and augmented reality. A plethora of hardware-based and vision-based methods have been proposed in the literature. However, direct application of these methods to RMIS has significant limitation...
