微分可能レンダリングによる手術ロボット器具の姿勢推定
Differentiable Rendering-based Pose Estimation for Surgical Robotic Instruments
微分可能レンダリングと円柱などの幾何プリミティブを活用し、マーカーレスで手術ロボット器具の姿勢を単発推定するキャリブレーション手法を提案した。
著者: Zekai Liang, Zih-Yun Chiu, Florian Richter, Michael C. Yip
分類: cs.RO
原文アブストラクト
Robot pose estimation is a challenging and crucial task for vision-based surgical robotic automation. Typical robotic calibration approaches, however, are not applicable to surgical robots, such as the da Vinci Research Kit (dVRK), due to joint angle measurement errors from cable-drives and the partially visible kinematic chain. Hence, previous works in surgical robotic automation used tracking algorithms to estimate the pose of the surgical tool in real-time and compensate for the joint angle errors. However, a big limitation of these previous tracking works is the initialization step which relied on only keypoints and SolvePnP. In this work, we fully explore the potential of geometric primitives beyond just keypoints with differentiable rendering, cylinders, and construct a versatile pose matching pipeline in a novel pose hypothesis space. We demonstrate the state-of-the-art performance of our single-shot calibration method with both calibration consistency and real surgical tasks. As a result, this marker-less calibration approach proves to be a robust and generalizable initialization step for surgical tool tracking.
