Papers Robot Pose Estimation
“Robot Pose Estimation” 태그가 달린 논문 21편 · 필터 해제
A Closed-Form 4-DoF Inter-Robot Pose Estimator using Bearing-only Measurements
Bearing-odometry-based cooperative localization has attracted increasing research interest due to its minimal infrastructure requirements, low communication bandwidth and broad applicability in complex environments. Howe…
Robot Pose EstimationRecipes for Calibration Checks in Safety-Critical Applications
Safety-critical prediction systems, such as autonomous vehicles, weather forecasters, and medical monitors, commonly rely on probabilistic forecasters. These forecasters make predictions about possible future outcomes, a…
Robot Pose EstimationAutonomous VehiclesWeather ForecastingDecision MakingReal-time Rendering-based Surgical Instrument Tracking via Evolutionary Optimization
Accurate and efficient tracking of surgical instruments is fundamental for Robot-Assisted Minimally Invasive Surgery. Although vision-based robot pose estimation has enabled markerless calibration without tedious physica…
Robot Pose EstimationTraining-Free Robot Pose Estimation using Off-the-Shelf Foundational Models
Pose estimation of a robot arm from visual inputs is a challenging task. However, with the increasing adoption of robot arms for both industrial and residential use cases, reliable joint angle estimation can offer improv…
Robot Pose EstimationROPES: Robotic Pose Estimation via Score-Based Causal Representation Learning
Causal representation learning (CRL) has emerged as a powerful unsupervised framework that (i) disentangles the latent generative factors underlying high-dimensional data, and (ii) learns the cause-and-effect interaction…
Representation LearningRobot Pose EstimationMonoSE(3)-Diffusion: A Monocular SE(3) Diffusion Framework for Robust Camera-to-Robot Pose Estimation
We propose MonoSE(3)-Diffusion, a monocular SE(3) diffusion framework that formulates markerless, image-based robot pose estimation as a conditional denoising diffusion process. The framework consists of two processes: a…
Robot Pose EstimationPoseDiff: A Unified Diffusion Model Bridging Robot Pose Estimation and Video-to-Action Control
We present PoseDiff, a conditional diffusion model that unifies robot state estimation and control within a single framework. At its core, PoseDiff maps raw visual observations into structured robot states-such as 3D key…
Robot Pose EstimationSelf-supervised Learning Of Visual Pose Estimation Without Pose Labels By Classifying LED States
We introduce a model for monocular RGB relative pose estimation of a ground robot that trains from scratch without pose labels nor prior knowledge about the robot's shape or appearance. At training time, we assume: (i) a…
Monocular Depth EstimationSelf-Supervised LearningRobot Pose EstimationFoundation Feature-Driven Online End-Effector Pose Estimation: A Marker-Free and Learning-Free Approach
Accurate transformation estimation between camera space and robot space is essential. Traditional methods using markers for hand-eye calibration require offline image collection, limiting their suitability for online sel…
6D Pose EstimationPose EstimationRobot Pose EstimationZero-shot GeneralizationCtRNet-X: Camera-to-Robot Pose Estimation in Real-world Conditions Using a Single Camera
Camera-to-robot calibration is crucial for vision-based robot control and requires effort to make it accurate. Recent advancements in markerless pose estimation methods have eliminated the need for time-consuming physica…
Pose EstimationRobot Pose EstimationReal-time Holistic Robot Pose Estimation with Unknown States
Estimating robot pose from RGB images is a crucial problem in computer vision and robotics. While previous methods have achieved promising performance, most of them presume full knowledge of robot internal states, e.g. g…
6D Pose Estimation using RGBRobot Pose EstimationvalidExternal Camera-based Mobile Robot Pose Estimation for Collaborative Perception with Smart Edge Sensors
We present an approach for estimating a mobile robot's pose w.r.t. the allocentric coordinates of a network of static cameras using multi-view RGB images. The images are processed online, locally on smart edge sensors by…
Pose EstimationRobot Pose EstimationMarkerless Camera-to-Robot Pose Estimation via Self-supervised Sim-to-Real Transfer
Solving the camera-to-robot pose is a fundamental requirement for vision-based robot control, and is a process that takes considerable effort and cares to make accurate. Traditional approaches require modification of the…
Deep LearningForeground SegmentationPose EstimationPose Prediction+1Image-based Pose Estimation and Shape Reconstruction for Robot Manipulators and Soft, Continuum Robots via Differentiable Rendering
State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's po…
parameter estimationPose EstimationRobot Pose EstimationState EstimationMARIO: Modular and Extensible Architecture for Computing Visual Statistics in RoboCup SPL
This technical report describes a modular and extensible architecture for computing visual statistics in RoboCup SPL (MARIO), presented during the SPL Open Research Challenge at RoboCup 2022, held in Bangkok (Thailand). …
Camera CalibrationPose EstimationRobot Pose EstimationSemi-Perspective Decoupled Heatmaps for 3D Robot Pose Estimation from Depth Maps
Knowing the exact 3D location of workers and robots in a collaborative environment enables several real applications, such as the detection of unsafe situations or the study of mutual interactions for statistical and soc…
2D Human Pose EstimationDomain AdaptationPose EstimationRobot Pose EstimationFCN-Pose: A Pruned and Quantized CNN for Robot Pose Estimation for Constrained Devices
IoT devices suffer from resource limitations, such as processor, RAM, and disc storage. These limitations become more evident when handling demanding applications, such as deep learning, well-known for their heavy comput…
Pose EstimationQuantizationRobot Pose EstimationSingle-view robot pose and joint angle estimation via render & compare
We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous sys…
Pose EstimationRobot Pose Estimation3D Robot Pose Estimation from 2D Images
This paper considers the task of locating articulated poses of multiple robots in images. Our approach simultaneously infers the number of robots in a scene, identifies joint locations and estimates sparse depth maps aro…
Pose EstimationRobot Pose EstimationImproved Fourier Mellin Invariant for Robust Rotation Estimation with Omni-cameras
Spectral methods such as the improved Fourier Mellin Invariant (iFMI) transform have proved faster, more robust and accurate than feature based methods on image registration. However, iFMI is restricted to work only when…
Image RegistrationPose EstimationRobot Pose Estimation