Pose estimation of continuum robot using computer vision

The article presents a method for determining the position of a continuum robot based on a computer vision. without the use of special markers. In contrast to robotic arms with rigid joints, where sensors are integrated into the degree of freedom, determining the position of a continuum robot poses challenges due to the design characteristics of this type of robot. Existing approaches, including the use of markers and integration of flexible sensors, are discussed. The proposed position determination method was implemented on an experimental setup using a prototype single-joint arm, high-resolution camera, and computer hardware with Python software utilizing OpenCV and NumPy libraries.