@misc{chiu2021markerless,
  title={Markerless Suture Needle 6D Pose Tracking with Robust Uncertainty Estimation for Autonomous Minimally Invasive Robotic Surgery},
  author={Zih-Yun Chiu and Albert Z Liao and Florian Richter and Bjorn Johnson and Michael C. Yip},
  year={2021},
  eprint={2109.12722},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2109.12722}
}