Camera-to-Robot Pose Estimation from a Single Image
Timothy E. Lee,Jonathan Tremblay,Thang To,Jia Cheng,Terry Mosier,Oliver Kroemer,Dieter Fox,Stan Birchfield,Timothy E. Lee,Jonathan Tremblay,Thang To,Jia Cheng,Terry Mosier,Oliver Kroemer,Dieter Fox,Stan Birchfield
We present an approach for estimating the pose of an external camera with respect to a robot using a single RGB image of the robot. The image is processed by a deep neural network to detect 2D projections of keypoints (such as joints) associated with the robot. The network is trained entirely on simulated data using domain randomization to bridge the reality gap. Perspective-n-point (PnP) is then ...
