A stereo-based pipeline with Mask R-CNN segmentation and RAFT-Stereo depth lets a modified SAM-6D beat FoundationPose for zero-shot 6D pose estimation of a surgical needle driver in occluded scenes, on a new single-tool dataset.
Graph-based Pose Estimation of Texture-less Surgical Tools for Autonomous Robot Control
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SurgPose: Generalisable Surgical Instrument Pose Estimation using Zero-Shot Learning and Stereo Vision
A stereo-based pipeline with Mask R-CNN segmentation and RAFT-Stereo depth lets a modified SAM-6D beat FoundationPose for zero-shot 6D pose estimation of a surgical needle driver in occluded scenes, on a new single-tool dataset.