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. Author manuscript; available in PMC: 2021 Aug 19.
Published in final edited form as: IEEE Int Conf Robot Autom. 2020 Sep 15;2020:10.1109/icra40945.2020.9197454. doi: 10.1109/icra40945.2020.9197454

Fig. 7.

Fig. 7.

CDM bending in (a) free environment and (b) S-shape. The red markers are used in conjunction with a pair of stereo cameras as ground truth to compare the shape reconstruction.