ResearchBenchmarksHand-eye calibration on Surg 5 PSM3 init 200Hand-eye calibration on Surg 5 PSM3 init 200Follow2.98Translational Error (mm)EKF2.82643.86324.95.9368Jan 21, 2026Evaluation resultsMethodMethodLinksTranslational Error (mm)Rotational Error (rads)EKFEstimator=EKFEstimator=EKF2026.012.980.02AEKFEstimator=AEKFEstimator=AEKF2026.013.040.02PFEstimator=PFEstimator=PF2026.016.820.02