Published in
2014 IEEE International Conference on Robotics and Automation (ICRA)
DOI: 10.1109/icra.2014.6907651
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Six DOF motion estimation for teleoperated flexible endoscopes using optical flow: A comparative study
Proceedings article published in 2014 by
Charreau S. Bell,
Gustavo A. Puerto,
Gian-Luca Mariottini,
Pietro Valdastri 
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