PICO: Projection-Informed Consistency Optimisation for 6DoF Surgical Tool Pose Estimation

arXiv:2609.30989 · cs.CV · Submitted 2026-09-25 · Read on arXiv

cs.CV

Submitted: 2026-09-25

Updated: 2026-09-25

Terminology

• Consistency — 17× in this paper · explained in 3 episodes
• Accuracy — 13× in this paper · explained in 1 episode
• Loss Function — 8× in this paper · explained in 2 episodes
• Robustness — 6× in this paper · explained in 5 episodes
• Ablation — 5× in this paper · explained in 1 episode
• 6D Object Pose Estimation — 4× in this paper · explained in 1 episode
• Benchmark — 4× in this paper · explained in 2 episodes
• Computational overhead — 4× in this paper · explained in 2 episodes
• Ablation Studies — 3× in this paper · explained in 1 episode
• Computer Vision and Pattern Recognition — 3× in this paper
• Data Augmentation — 3× in this paper · explained in 7 episodes
• Iterative Refinement — 3× in this paper · explained in 3 episodes
• Segmentation Masks — 3× in this paper · explained in 2 episodes
• Activation Function — 2× in this paper · explained in 1 episode
• Adam — 2× in this paper · explained in 2 episodes
• Adaptation — 2× in this paper · explained in 1 episode
• Alignment — 2× in this paper · explained in 1 episode
• Domain Adaptation — 2× in this paper · explained in 5 episodes
• Embeddings — 2× in this paper · explained in 2 episodes
• Feature Extraction — 2× in this paper · explained in 2 episodes
• Optical Flow — 2× in this paper · explained in 2 episodes
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Benchmarking — 1× in this paper · explained in 3 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Error Decomposition — 1× in this paper · explained in 3 episodes
• Instance Segmentation — 1× in this paper · explained in 3 episodes
• Sparsity — 1× in this paper · explained in 4 episodes
• Transfer Learning — 1× in this paper · explained in 10 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• U-net architecture — 1× in this paper · explained in 3 episodes

Sources

• PicoPose: Progressive Pixel-to-Pixel Correspondence Learning for Novel Object Pose Estimation
• SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose Estimation
• Encoder-Decoder with Atrous Separable Convolution for Semantic Image Segmentation
• Depth Map Prediction from a Single Image using a Multi-Scale Deep Network

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