Fig. 4
From: Towards autonomous robotic THz-based in vivo skin sensing: the PicoBot
Comparison between the handheld system and the PicoBot for the stability during skin scanning using marker and camera (a) Pose estimation of the probe when attached to the robot (b) Pose estimation of the probe when handled manually (c) Variations of the estimated pose of the fiducial marker (ArUco tag) attached to the probe and compared between the manual Operator 1 (O1), manual Operator 2 (O2), and the PicoBot (PB) for three measurements of the same location. From left to right, it shows the variation of the position in x, y, and z followed by the orientation in roll, pitch, and yaw.
