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Research questionHow can stereo vision provide accurate markerless 6D pose feedback for closed-loop control of continuum manipulators?Nonlinear hysteresis makes feedforward control unreliable, but closed-loop correction depends on accurate end-effector position and orientation. The difficulty is obtaining that six-degree-of-freedom feedback without attaching markers while maintaining control-relevant speed and accuracy.
AI
Computer Vision
Image & Video Processing
Research Paper
Robotics
Technology
Latest papersRecent research connected to this question, newest first.MarUco: A Markerless 6D Pose Estimation Framework for Closed-Loop Control of Surgical Continuum ManipulatorsThe source describes a markerless stereo-vision system that estimates manipulator pose, adapts from simulated training data to unlabeled real stereo pairs, and is evaluated on real pose samples and closed-loop reference paths. It reports evidence for surgical continuum manipulators and does not establish performance beyond the described setup.research paper · Sep 1, 2026
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