ResearchBenchmarksHand-eye calibration on Surg 6 PSM3 init 100Hand-eye calibration on Surg 6 PSM3 init 100Follow2.84Translational Error (|Δt|) (mm)EKF2.30485.91749.5313.1426Jan 21, 2026Evaluation resultsMethodMethodLinksTranslational Error (|Δt|) (mm)Rotational Error (|Δr|) (rads)EKFEstimator=EKFEstimator=EKF2026.012.840.03AEKFEstimator=AEKFEstimator=AEKF2026.018.190.07PFEstimator=PFEstimator=PF2026.0116.220.09