1. Multi-rate unscented Kalman filtering for pose and curvature estimation in 3D ultrasound-guided needle steering. (November 2018) Authors: Lapouge, G.; Troccaz, J.; Poignet, P. Journal: Control engineering practice Issue: Volume 80(2018) Page Start: 116 Record Type: Journal Article View Content: Available online (eLD content is only available in our Reading Rooms) ↗