Patent ID: 11937771
Assignee: ASENSUS SURGICAL EUROPE SàRL
Field: Audio-visual technology (Electrical engineering)
Classification: CPC A  G  H | IPC A  G  H

Claim 8:
9. The method of claim 8, comprising estimating the world coordinates pw of a point P according to the following non-linear least squares (NLLS) equations:, min
    
     Θ
     c
    
   
     
   
    
     
     
      
       P
       p
      
      -
      
       
        F
        c
       
       (
       
        
         P
         w
        
        ;
        
         Θ
         c
        
       
      
     
     
    
    2
   
  
  ⁢
  

  
   
    min
    
     Θ
     p
    
   
     
   
    
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       P
       s
      
      -
      
       
        F
        p
       
       (
       
        
         P
         w
        
        ;
        
         Θ
         p
        
       
      
     
     
    
    2