PICO: Projection-Informed Consistency Optimisation for 6DoF Surgical Tool Pose Estimation
Purpose: Accurate 6 DoF pose estimation of surgical tools is critical for automa- tion, robotic proprioception, and safe interaction with the tissue operated on. Kinematics-based approaches suffer from accumulated errors due to the cable- driven nature of robotic arms, while vision-based methods often rely on external markers or trackers. Although more recent vision-based advances have been pro- posed, these two-stage pose estimation methods often lack real-time robustness due to accumulated errors and computational overhead. Methods: We propose a novel end-to-end trainable model, PICO. Our model employs a multi-task learning architecture to predict segmentation and depth maps, alongside ...
| Authors | Lucy Fothergill, Pietro Valdastri, Dominic Jones et al. |
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| Primary category | cs.CV |
| Published | 25 September 2026 |
| Last updated at source | 25 September 2026 |
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