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. Author manuscript; available in PMC: 2021 Feb 1.
Published in final edited form as: IEEE Trans Robot. 2019 Oct 29;36(1):222–239. doi: 10.1109/tro.2019.2946726

Fig. 10.

Fig. 10.

Comparison of absolute estimation errors performed by the FBG-based and SCADE-based methods during bending in an obstructed environment with continuous displacement rate of 1 mm/s. The SCADE-based estimations have been performed in three different frequencies (i.e., 0.5, 0.125, and 0.05 Hz). The absolute errors have been calculated at iterations when the ground truth data are available from the EIU. The magnified region shows the instances when the error has been calculated based on Phase I or Phase II of the SCADE algorithm for the corresponding imaging frequency.