2026
ProbeMDE: Uncertainty-Guided Active Proprioception for Monocular Depth Estimation in Surgical Robotics
Britton Jordan, Jordan Thompson, Jesse F. d'Almeida, Hao Li, Nithesh Kumar, Susheela Sharma Stern +5
ICRA 2026poster
Monocular depth estimation (MDE) provides a useful tool for robotic perception, but its predictions are often uncertain and inaccurate in challenging environments such as surgical scenes where textureless surfaces, specular reflections, and occlusions are common. To address this, we propose ProbeMDE…