Single-view robot pose and joint angle estimation via render & compare

• Main Authors: Labbé, Yann, Carpentier, Justin, Aubry, Mathieu, Sivic, Josef
• Format: Journal Article
• Language: English
• Published: 19.04.2021
• Subjects: Computer Science - Computer Vision and Pattern Recognition; Computer Science - Robotics

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 systems the ability to interact with other robots using only visual information in...