ResearchBenchmarksCamera Pose Estimation on Surgical Environment 600mm distance (Err 0)Camera Pose Estimation on Surgical Environment 600mm distance (Err 0)Follow2.74Rotational Error (deg)RPnP1.72688.565915.40522.2441Feb 8, 2026Evaluation resultsMethodMethodLinksRotational Error (deg)Translational Error (%)RPnP2026.022.741.55OPnP2026.022.741.19Parallel2026.022.741.19Parallel weight2026.022.741.2LHM2026.022.751.24DLS2026.022.771.24EPnP+GN2026.0210.6510.36EPnP2026.0219.017.72DLT2026.0228.0741.82