Project Code

  • Camera calibration software

    Camera Calibration Tools is a Windows application designed to streamline the camera calibration process. It can be used to capture calibration images from a camera attached to your PC, detect the calibration object and calculate the intrinsic and extrinsic camera parameters.

  • Robot visualisation software

    Viz is a Cinder application designed to enable visualisation of robotic arms at a given configuration overlaid on a camera feed. This is particularly useful for surgical robotics where we can estimate arm position from joint kinematic data and then render the joints on the camera's field of view.


Publication Code

  • science!

    Adjoint Transformation Algorithm for Hand-eye Calibration with Applications in Robotic Assisted Surgery (currently under revision)


  • science!

    Image based surgical instrument pose estimation with multi-class labelling and optical flow

    MICCAI


  • science!

    2D-3D Pose Tracking of Rigid Instruments in Minimally Invasive Surgery

    IPCAI


  • science!

    Real-Time Dense Stereo Reconstruction Using Convex Optimisation with a Cost-Volume for Image-Guided Robotic Surgery

    MICCAI


  • science!

    Real-Time Stereo Reconstruction in Robotically Assisted Minimally Invasive Surgery

    MICCAI