ResearchBenchmarksHand-eye calibration on Surg 5 PSM1 init 200Hand-eye calibration on Surg 5 PSM1 init 200Follow13.9Translational Error (mm)EKF13.8614.1314.414.67Jan 21, 2026Evaluation resultsMethodMethodLinksTranslational Error (mm)Rotational Error (rads)EKFEstimator=EKFEstimator=EKF2026.0113.90.14PFEstimator=PFEstimator=PF2026.0114.190.23AEKFEstimator=AEKFEstimator=AEKF2026.0114.90.2