ResearchBenchmarksHand-eye calibration on Surg 6 PSM1 init 100Hand-eye calibration on Surg 6 PSM1 init 100Follow3.12Translational Error (mm)EKF2.99883.81694.6355.4531Jan 21, 2026Evaluation resultsMethodMethodLinksTranslational Error (mm)Rotational Error (rads)EKFEstimator=EKFEstimator=EKF2026.013.120.03AEKFEstimator=AEKFEstimator=AEKF2026.014.110.04PFEstimator=PFEstimator=PF2026.016.150.07