MarUco: A Markerless 6D Pose Estimation Framework for Closed-Loop Control of Surgical Continuum Manipulators
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来源：arXiv cs.RO发布时间待核实
arXiv:2602.16365v2 Announce Type: replace Abstract: Flexible endoscopic continuum manipulators offer high dexterity and access to complex anatomy, but nonlinear hysteresis limits feedforward control accuracy. Closed-loop control can compensate for these errors but requires accurate six-degree-of-freedom (6D) end-effector pose feedback. We present MarUco, a markerless 6D pose estimation framework for closed-loop control using only stereo vision during operation.