Multi-camera based real-time configuration estimation of continuum robots

A novel concept for visual configuration estimation of a continuum robot is presented, using solely an array of miniature cameras mounted to the surface of the robot as only input sensors. A two-step algorithm is implemented, consisting of a configuration estimation refinement step and a full Bundle Adjustment step, where 3D coordinates and robot configuration parameters are estimated optimally and simultaneously. Real-time capability is provided by fast feature matching procedures and a special solver for the sparse Bundle Adjustment problem. Furthermore, stochastically optimal estimates are guaranteed as the robot parameters are directly estimated and a detour via an individual camera pose estimation is spared. Finally, experimental results are presented to confirm the performance speed and accuracy of the proposed approach.