Image partitioning and illumination in image-based pose detection for teleoperated flexible endoscopes. - Charreau S. Bell; Keith Obstein; Pietro Valdastri (Artif. Intell. Medicine, 2013)

Six DOF motion estimation for teleoperated flexible endoscopes using optical flow: A comparative study. - Charreau S. Bell; Gustavo A. Puerto Souza; Gian Luca Mariottini; Pietro Valdastri (ICRA, 2014)

A Comparative Study of Ego-Motion Estimation Algorithms for Teleoperated Robotic Endoscopes. - Gustavo A. Puerto Souza; Aaron Staranowicz; Charreau S. Bell; Pietro Valdastri; Gian Luca Mariottini (CARE@MICCAI, 2014)