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Tracker-Free Robotic Ultrasound Calibration with a Spherical-Marker Phantom and Threshold-Free Center Localization

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

Robotic ultrasound (US) calibration is essential for accurately relating US images to the robot coordinate system, but accurate and automated calibration remains challenging because existing methods often require complex phantoms or external 3D trackers. In this work, we develop a tracker-free robotic US calibration framework using a spherical-marker phantom and a highly automated perception pipeline for sphere-center localization. The proposed threshold-free image-processing method localizes the spherical feature based on each US image's intensity distribution, eliminating hand-tuned intensit

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