Sensorless Estimation of the Planar Distal Shape of a Tip-Actuated Endoscope.
Piotr R. SlawinskiNabil SimaanKeith L. ObsteinPietro ValdastriPublished in: IEEE Robotics Autom. Lett. (2019)
Keyphrases
- shape estimation
- position and orientation
- geometric shapes
- control algorithm
- shape model
- maximum likelihood criterion
- planar scenes
- shape features
- control scheme
- parametric models
- shape prior
- control law
- shape analysis
- geometrical properties
- curved objects
- parallel manipulator
- real time
- shape recovery
- surface orientation
- surface patches
- shape descriptors