Graph-based Pose Estimation of Texture-less Surgical Tools for Autonomous Robot Control.
Haozheng XuMark RuncimanJoão CartuchoChi XuStamatia GiannarouPublished in: ICRA (2023)
Keyphrases
- pose estimation
- robot control
- surgical tools
- degrees of freedom
- image guided surgery
- minimally invasive surgery
- mobile robot
- autonomous robots
- computer vision
- human body
- beating heart
- d objects
- position and orientation
- robotic systems
- body parts
- multiple cameras
- autonomous navigation
- feature points
- soft tissue
- reinforcement learning
- viewpoint
- medical imaging
- dynamic environments
- camera views
- feature extraction
- pose estimates
- image segmentation