ResearchBenchmarksCamera Pose Estimation on Surgical Environment 600mm distance Err 100Follow2.04RE (°)Parallel1.23326.679112.12517.5709Feb 8, 2026Evaluation ResultsMethodMethodLinksRE (°)TE (%)Parallel2026.022.040.0065DLS2026.022.050.0063Parallel weight2026.022.050.0065LHM2026.022.060.0063OPnP2026.022.060.0066RPnP2026.022.120.0095EPnP+GN2026.025.550.0539EPnP2026.0216.310.0671DLT2026.0222.210.24