Susheela Sharma Stern

ProbeMDE: Uncertainty-Guided Active Proprioception for Monocular Depth Estimation in Surgical Robotics

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…