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. Author manuscript; available in PMC: 2019 Oct 1.
Published in final edited form as: Rep U S. 2019 Jan 7;2018:1298–1305. doi: 10.1109/IROS.2018.8594471

Fig. 6.

Fig. 6.

The kinematic-based silhouette rendering using the calibration and the recovered pose based on vision feedback of the da Vinci robot. Left camera view is given in first row, and right view is given in the second row.