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Surgical tool tracking in the Gazebo-based simulation environment: Top row shows the right and left camera images superimposed with best matched particle (white lines). Bottom row shows the distribution of all of the particles. In this particular simulation, the particle filter was initialized with an initial position error of 15mm and orientation error of 3.2°. After convergence of particles, the resulting position error was 0.6mm, and orientation error was 2.4°.
