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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. 8.

Fig. 8.

Free-bending CDM reconstruction using (a) the FBG-based sensor and (b) the ROGUE-based sensor. In both cases, the asterisk markers show the ground truth, obtained by the pair of stereo cameras, while the solid line show the reconstructed shape, in 2D.