Surgical tool pose tracking on PSM end-effector hand-eye transform (test)
11.8Roll RMSE (deg)Scratch (Mono)
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| Scratch (Mono)Input=Monocular, Training Strategy=From Scratch2025.05 | 11.8 | 5.63 | 9.53 | 10.82 | |
| ScratchInput=Stereo, Training Strategy=From Scratch2025.05 | 14.94 | 8.8 | 10.92 | 15.47 | |
| Finetune (Ours)Input=Stereo, Training Strategy=Finetuned2025.05 | 15.54 | 9 | 11.51 | 16.08 | |
| Gradient DescentInput=Stereo2025.05 | 20.52 | 12.63 | 18.23 | 22.52 |